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ACM: Rate_d filter for PID loop of Loiter.

This commit is contained in:
Jason Short 2012-03-11 23:17:41 -07:00
parent 77fe7de55d
commit 0ab6b6e592
1 changed files with 6 additions and 0 deletions
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6
ArduCopter/ArduCopter.pde
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@ -341,6 +341,9 @@ static const char* flight_mode_strings[] = {
static int16_t x_actual_speed; static int16_t x_actual_speed;
static int16_t y_actual_speed; static int16_t y_actual_speed;
static int16_t x_rate_d;
static int16_t y_rate_d;
// The difference between the desired rate of travel and the actual rate of travel // The difference between the desired rate of travel and the actual rate of travel
// updated after GPS read - 5-10hz // updated after GPS read - 5-10hz
static int16_t x_rate_error; static int16_t x_rate_error;
@ -523,6 +526,9 @@ int32_t pitch_axis;
AverageFilterInt32_Size3 roll_rate_d_filter; // filtered acceleration AverageFilterInt32_Size3 roll_rate_d_filter; // filtered acceleration
AverageFilterInt32_Size3 pitch_rate_d_filter; // filtered pitch acceleration AverageFilterInt32_Size3 pitch_rate_d_filter; // filtered pitch acceleration
AverageFilterInt16_Size3 lat_rate_d_filter; // for filtering D term
AverageFilterInt16_Size3 lon_rate_d_filter; // for filtering D term
// Barometer filter // Barometer filter
AverageFilterInt32_Size5 baro_filter; // filtered pitch acceleration AverageFilterInt32_Size5 baro_filter; // filtered pitch acceleration