Diff: config_loop.h

Revision:

93:e7e45957f496

Parent:

92:a9dac72d8cac

Child:

98:1051c4103900

--- a/config_loop.h	Thu Apr 06 17:33:47 2017 +0000
+++ b/config_loop.h	Fri Apr 07 15:54:16 2017 +0000
@@ -16,16 +16,16 @@
 /*filter strengths, 0-1.0
   higher = stronger filtering*/
 #define W_FILTER_STRENGTH 0.99f
-#define DQ_FILTER_STRENGTH 0.0f
-#define THROTTLE_FILTER_STRENGTH 0.95f
+#define DQ_FILTER_STRENGTH 0.80f
+#define THROTTLE_FILTER_STRENGTH 0.90f
 
 
 /*internally computed*/
-#define KP_D (K_LOOP_D / BUS_VOLTAGE)
-#define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW)
+#define KP_D (K_LOOP_D / BUS_VOLTAGE / MODULATION_MAX)
+#define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW / MODULATION_MAX)
 
-#define KP_Q (K_LOOP_Q / BUS_VOLTAGE)
-#define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW)
+#define KP_Q (K_LOOP_Q / BUS_VOLTAGE / MODULATION_MAX)
+#define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW / MODULATION_MAX)
 
 #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP))