Change cyclic cross-coupling scale

- CC gain => x10 stronger
- CC cutoff => /10 smaller

This allows using much higher gains needed by large helis,
and lower and more fine grained cutoff frequencies.

The previous defaults were gain = 25, cutoff = 15.
In order to get the same effect, set gain = 3 cutoff = 150.

src/main/flight/pid.c

@@ -237,8 +237,8 @@ void INIT_CODE pidInitProfile(const pidProfile_t *pidProfile)
     pid.cyclicCrossCouplingGain[FD_ROLL]  = pid.cyclicCrossCouplingGain[FD_PITCH] * pidProfile->cyclic_cross_coupling_ratio / -100.0f;
 
     // Cross-coupling derivative filters
-    difFilterInit(&pid.crossCouplingFilter[FD_PITCH], pidProfile->cyclic_cross_coupling_cutoff, pid.freq);
-    difFilterInit(&pid.crossCouplingFilter[FD_ROLL], pidProfile->cyclic_cross_coupling_cutoff, pid.freq);
+    difFilterInit(&pid.crossCouplingFilter[FD_PITCH], pidProfile->cyclic_cross_coupling_cutoff / 10.0f, pid.freq);
+    difFilterInit(&pid.crossCouplingFilter[FD_ROLL], pidProfile->cyclic_cross_coupling_cutoff / 10.0f, pid.freq);
 
     // Initialise sub-profiles
     governorInitProfile(pidProfile);

src/main/flight/pid.h

@@ -51,7 +51,7 @@
 #define YAW_F_TERM_SCALE            0.000025f
 #define YAW_B_TERM_SCALE            1.0e-6f
 
-#define CROSS_COUPLING_SCALE        0.1e-6f
+#define CROSS_COUPLING_SCALE        1.0e-6f
 
 typedef struct {
     float P;

src/main/pg/pid.c

@@ -84,9 +84,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .yaw_collective_dynamic_gain = 0,
         .yaw_collective_dynamic_decay = 25,
         .pitch_collective_ff_gain = 0,
-        .cyclic_cross_coupling_gain = 25,
+        .cyclic_cross_coupling_gain = 5,
         .cyclic_cross_coupling_ratio = 0,
-        .cyclic_cross_coupling_cutoff = 15,
+        .cyclic_cross_coupling_cutoff = 150,
         .angle.level_strength = 40,
         .angle.level_limit = 55,
         .horizon.level_strength = 40,