From 2bcc5cf3e58a5f29ca13b025e28bb64627a5d04b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 13 Mar 2018 17:41:18 +0100
Subject: [PATCH] imu filter defaults: set IMU_GYRO_CUTOFF to 80 and
 MC_DTERM_CUTOFF to 30

tested on at least 5 different vehicles, including AeroFC. The values
should be conservative, good setups (with low vibrations) can increase
these values even further.

increasing IMU_GYRO_CUTOFF allows for better tuning gains (increased P).
---
 src/modules/mc_att_control/mc_att_control_params.c | 2 +-
 src/modules/sensors/sensor_params.c                | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c
index 225ca6ae09..bc83c539fd 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -570,4 +570,4 @@ PARAM_DEFINE_FLOAT(MC_TPA_RATE_D, 0.0f);
  * @increment 10
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 0.f);
+PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 30.f);
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index e65f6580e7..106276dafa 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -248,7 +248,7 @@ PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
 * @reboot_required true
 * @group Sensors
 */
-PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
+PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 80.0f);
 
 /**
 * Driver level cutoff frequency for accel
-- 
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