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AP_ICEngine: fixed RPM filter rate and plane.G_Dt

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AP_ICEngine runs at 10Hz, so we need to use 10 for the filter.

As this runs in a constructor it also caused memoisation of the wrong
AP_Scheduler _loop_period_s which resulted in plane.G_Dt always being
1/50, which is a much more serious issue

this is a temporary fix, we need a better one soon
This commit is contained in:
Andrew Tridgell 2022-07-19 19:14:29 +10:00
parent b59a2143ae
commit 0731b5cfa0
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_ICEngine/AP_ICEngine.cpp
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@ -168,7 +168,8 @@ AP_ICEngine::AP_ICEngine(const AP_RPM &_rpm) :
} }
_singleton = this; _singleton = this;
_rpm_filter.set_cutoff_frequency(1 / AP::scheduler().get_loop_period_s(), 0.5f); // ICEngine runs at 10Hz
_rpm_filter.set_cutoff_frequency(10, 0.5f);
} }
/* /*