Merge branch 'master' into esc_sensor_hw5_pr

* master: Improve baro filtering defaults Improve rescue gain and time defaults
rotorflight · May 14, 2024 · 6c12855 · 6c12855
2 parents 2586368 + 397f638
commit 6c12855
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/src/main/pg/pid.c b/src/main/pg/pid.c
@@ -98,11 +98,11 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .trainer.lookahead_ms = 50,
         .rescue.mode = 0,
         .rescue.flip_mode = 0,
-        .rescue.flip_gain = 50,
-        .rescue.level_gain = 40,
-        .rescue.pull_up_time = 5,
-        .rescue.climb_time = 20,
-        .rescue.flip_time = 10,
+        .rescue.flip_gain = 200,
+        .rescue.level_gain = 100,
+        .rescue.pull_up_time = 3,
+        .rescue.climb_time = 10,
+        .rescue.flip_time = 20,
         .rescue.exit_time = 5,
         .rescue.pull_up_collective = 650,
         .rescue.climb_collective = 450,
@@ -112,8 +112,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .rescue.alt_i_gain = 20,
         .rescue.alt_d_gain = 10,
         .rescue.max_collective = 500,
-        .rescue.max_setpoint_rate = 250,
-        .rescue.max_setpoint_accel = 2000,
+        .rescue.max_setpoint_rate = 300,
+        .rescue.max_setpoint_accel = 3000,
         .governor.headspeed = 1000,
         .governor.gain = 40,
         .governor.p_gain = 40,

diff --git a/src/main/pg/position.c b/src/main/pg/position.c
@@ -29,10 +29,10 @@ PG_REGISTER_WITH_RESET_TEMPLATE(positionConfig_t, positionConfig, PG_POSITION, 0
 
 PG_RESET_TEMPLATE(positionConfig_t, positionConfig,
     .alt_source = ALT_SOURCE_DEFAULT,
-    .baro_alt_lpf = 25,
+    .baro_alt_lpf = 100,
     .baro_offset_lpf = 5,
     .gps_alt_lpf = 25,
     .gps_offset_lpf = 5,
     .gps_min_sats = 12,
-    .vario_lpf = 25,
+    .vario_lpf = 50,
 );