narrower matrix Q (+100) (emuflight#556)

helps speedup the notch calculations, less delay Co-authored-by: Kevin Plaizier <[email protected]>
SEA729 · May 9, 2021 · 0f54e87 · 0f54e87
1 parent 117987e
commit 0f54e87
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
@@ -244,7 +244,7 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES,
                   .yaw_spin_recovery = true,
                   .yaw_spin_threshold = 1950,
-                  .dyn_notch_q_factor = 300,
+                  .dyn_notch_q_factor = 400,
                   .dyn_notch_min_hz = 150,
                   .dyn_notch_max_hz = 600,
                   .imuf_mode = GTBCM_GYRO_ACC_FILTER_F,
@@ -295,7 +295,7 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .gyro_offset_yaw = 0,
                   .yaw_spin_recovery = true,
                   .yaw_spin_threshold = 1950,
-                  .dyn_notch_q_factor = 250,
+                  .dyn_notch_q_factor = 350,
                   .dyn_notch_min_hz = 150,
                   .dyn_notch_max_hz = 600,
                   .gyro_ABG_alpha = 0,