Merge pull request #9443 from shota3527/sh_change_pitot

Increase pitot`s default LPF frequency

Author: sensei-hacker

docs/Settings.md

@@ -5613,12 +5613,12 @@ Selection of pitot hardware.
 ---
 
 ### pitot_lpf_milli_hz
+Pitot tube lowpass filter cutoff frequency in milli Hz(0.001hz). Set as 0 to disable LPF Lower cutoff frequencies result in smoother response at expense of command control delay
 
-Pitot tube lowpass filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 350 | 0 | 10000 |
+| 3000 | 0 | 50000 |
 
 ---
 

src/main/fc/settings.yaml

@@ -668,10 +668,10 @@ groups:
         default_value: "NONE"
         table: pitot_hardware
       - name: pitot_lpf_milli_hz
-        description: "Pitot tube lowpass filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay"
+        description: "Pitot tube lowpass filter cutoff frequency in milli Hz(0.001hz). Set as 0 to disable LPF Lower cutoff frequencies result in smoother response at expense of command control delay"
         min: 0
-        max: 10000
-        default_value: 350
+        max: 50000
+        default_value: 3000
       - name: pitot_scale
         description: "Pitot tube scale factor"
         min: 0

src/main/sensors/pitotmeter.c

@@ -209,9 +209,9 @@ STATIC_PROTOTHREAD(pitotThread)
 
     // Init filter
     pitot.lastMeasurementUs = micros();
-
-    pt1FilterInit(&pitot.lpfState, pitotmeterConfig()->pitot_lpf_milli_hz / 1000.0f, 0.0f);
-
+    if(pitotmeterConfig()->pitot_lpf_milli_hz >0){
+        pt1FilterInit(&pitot.lpfState, pitotmeterConfig()->pitot_lpf_milli_hz / 1000.0f, 0.0f);
+    }
     while(1) {
 #ifdef USE_SIMULATOR
     	while (SIMULATOR_HAS_OPTION(HITL_AIRSPEED) && SIMULATOR_HAS_OPTION(HITL_PITOT_FAILURE))
@@ -263,7 +263,11 @@ STATIC_PROTOTHREAD(pitotThread)
 
             // NOTE ::filter pressure - apply filter when NOT calibrating for zero !!!
             currentTimeUs = micros();
-            pitot.pressure = pt1FilterApply3(&pitot.lpfState, pitotPressureTmp, US2S(currentTimeUs - pitot.lastMeasurementUs));
+            if(pitotmeterConfig()->pitot_lpf_milli_hz >0){
+                pitot.pressure = pt1FilterApply3(&pitot.lpfState, pitotPressureTmp, US2S(currentTimeUs - pitot.lastMeasurementUs));
+            }else{
+                pitot.pressure = pitotPressureTmp;
+            }
             pitot.lastMeasurementUs = currentTimeUs;
 
             pitot.airSpeed = pitotmeterConfig()->pitot_scale * fast_fsqrtf(2.0f * fabsf(pitot.pressure - pitot.pressureZero) / SSL_AIR_DENSITY) * 100;  // cm/s