Setting FKF As default with better values & removing TAZ

ButterFlight / butterflight

GNU General Public License v3.0

106 stars 26 forks source link

Setting FKF As default with better values & removing TAZ #19

Closed kidBrazil closed 6 years ago

kidBrazil commented 6 years ago

Made FKF the default, so we can stop fielding so many questions as to how to enable it. People are coming to this FW because they want to use FKF so we might as well provide it as default.

Added default Q and R values - can be tweaked
Disabled notch 1 & 2
Lowered stock D Gain a little bit since it seems to give folks grief and 35 is way too high.
Disabled Gyro Overflow - seems to cause issues on 32khz
Disabled anti-taz until we get it out of here

ReFil commented 6 years ago

Why remove anti taz?

lunohod commented 6 years ago

Why do you remove anti-taz?

kidBrazil commented 6 years ago

@livid-fpv @lunohod - I don't trust the current implementation, seems to be causing trouble for some users.

Furthermore, the feature doesn't actually prevent injury and I believe would give users a false sense of safety.

lunohod commented 6 years ago

I read one guy actually avoided injuries thanks to that feature. Maybe it's time to open a safer-butter-flight fork.

kidBrazil commented 6 years ago

@lunohod Indeed, I have read that too - but I have also read many quads disarming and having issues. So we are disabling it for now until that can be fixed. Or at least that is the proposal on this PR.

hsuq510 commented 6 years ago

400/88 default value are for 8/8 or 32/16 ?

kidBrazil commented 6 years ago

@hsuq510 8/8khz