change imuf_q defaults for 0.4.0 (#688)

due to many users complaining of issues with this latest release and seeing a handful fix this by just raising their IMUF q, I'm pulling these changes. I think we should just replace the current 0.4.0 hex files with new ones that contain these defaults.
emuflight · Aug 23, 2021 · aa79834 · aa79834
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commit aa79834
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Showing 5 changed files with 7 additions and 41 deletions.
diff --git a/src/main/drivers/accgyro/accgyro_imuf9001.h b/src/main/drivers/accgyro/accgyro_imuf9001.h
@@ -30,28 +30,6 @@ void imufSpiAccInit(accDev_t *acc);
 void imufStartCalibration(void);
 void imufEndCalibration(void);
 
-#ifndef IMUF_DEFAULT_PITCH_Q
-#define IMUF_DEFAULT_PITCH_Q  3000
-#endif
-#ifndef IMUF_DEFAULT_ROLL_Q
-#define IMUF_DEFAULT_ROLL_Q  3000
-#endif
-#ifndef IMUF_DEFAULT_YAW_Q
-#define IMUF_DEFAULT_YAW_Q  3000
-#endif
-#ifndef IMUF_IMUF_W
-#define IMUF_IMUF_W  32
-#endif
-#ifndef IMUF_DEFAULT_ROLL_AF
-#define IMUF_DEFAULT_ROLL_AF  0
-#endif
-#ifndef IMUF_DEFAULT_PITCH_AF
-#define IMUF_DEFAULT_PITCH_AF  0
-#endif
-#ifndef IMUF_DEFAULT_YAW_AF
-#define IMUF_DEFAULT_YAW_AF  0
-#endif
-
 
 #define IMUF_FIRMWARE_MIN_VERSION  106
 extern volatile uint16_t imufCurrentVersion;

diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
@@ -253,10 +253,10 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .dyn_notch_max_hz = 600,
                   .imuf_mode = GTBCM_GYRO_ACC_FILTER_F,
                   .imuf_rate = IMUF_RATE_16K,
-                  .imuf_roll_q = IMUF_DEFAULT_ROLL_Q,
-                  .imuf_pitch_q = IMUF_DEFAULT_PITCH_Q,
-                  .imuf_yaw_q = IMUF_DEFAULT_YAW_Q,
-                  .imuf_w = IMUF_DEFAULT_W,
+                  .imuf_roll_q = 6000,
+                  .imuf_pitch_q = 6000,
+                  .imuf_yaw_q = 6000,
+                  .imuf_w = 32,
                   .imuf_roll_lpf_cutoff_hz = IMUF_DEFAULT_LPF_HZ,
                   .imuf_pitch_lpf_cutoff_hz = IMUF_DEFAULT_LPF_HZ,
                   .imuf_yaw_lpf_cutoff_hz = IMUF_DEFAULT_LPF_HZ,
@@ -295,9 +295,9 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .gyro_soft_notch_hz_2 = 0,
                   .gyro_soft_notch_cutoff_2 = 0,
                   .checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES,
-                  .imuf_roll_q = 3000,
-                  .imuf_pitch_q = 3000,
-                  .imuf_yaw_q = 3000,
+                  .imuf_roll_q = 6000,
+                  .imuf_pitch_q = 6000,
+                  .imuf_yaw_q = 6000,
                   .imuf_w = 32,
                   .gyro_offset_yaw = 0,
                   .yaw_spin_recovery = true,

diff --git a/src/main/target/HELIOSPRING/target.h b/src/main/target/HELIOSPRING/target.h
@@ -197,10 +197,6 @@
 
 #define CAMERA_CONTROL_PIN             PB6    // define dedicated camera_osd_control pin
 
-#define IMUF_DEFAULT_PITCH_Q  3000
-#define IMUF_DEFAULT_ROLL_Q   3000
-#define IMUF_DEFAULT_YAW_Q    3000
-#define IMUF_DEFAULT_W        32
 #define IMUF_DEFAULT_LPF_HZ   90.0f
 #define IMUF_DEFAULT_ACC_LPF_HZ   40.0f
 

diff --git a/src/main/target/MODE2FLUX/target.h b/src/main/target/MODE2FLUX/target.h
@@ -197,10 +197,6 @@
 
 #define CAMERA_CONTROL_PIN             PB6    // define dedicated camera_osd_control pin
 
-#define IMUF_DEFAULT_PITCH_Q  3000
-#define IMUF_DEFAULT_ROLL_Q   3000
-#define IMUF_DEFAULT_YAW_Q    3000
-#define IMUF_DEFAULT_W        32
 #define IMUF_DEFAULT_LPF_HZ   90.0f
 #define IMUF_DEFAULT_ACC_LPF_HZ   40.0f
 

diff --git a/src/main/target/STRIXF10/target.h b/src/main/target/STRIXF10/target.h
@@ -190,10 +190,6 @@
 
 #define CAMERA_CONTROL_PIN             PB6    // define dedicated camera_osd_control pin
 
-#define IMUF_DEFAULT_PITCH_Q  3000
-#define IMUF_DEFAULT_ROLL_Q   3000
-#define IMUF_DEFAULT_YAW_Q    3000
-#define IMUF_DEFAULT_W        32
 #define IMUF_DEFAULT_LPF_HZ   90.0f
 #define IMUF_DEFAULT_ACC_LPF_HZ   40.0f