ACM: TradHeli

Bringing in Low Pas Filter
Commented out because it does not build.
Needs updates to Low Pass Filter Lib

ArduCopter/ArduCopter.pde

@@ -612,6 +612,11 @@ int32_t pitch_axis;
 // Filters
 AP_LeadFilter xLeadFilter;      // Long GPS lag filter
 AP_LeadFilter yLeadFilter;      // Lat  GPS lag filter
+#if FRAME_CONFIG == HELI_FRAME
+// LowPassFilterFloat rate_roll_filter;    // Rate Roll filter
+// LowPassFilterFloat rate_pitch_filter;   // Rate Pitch filter	598	LowPassFilterFloat rate_pitch_filter;   // Rate Pitch filter
+// LowPassFilterFloat rate_yaw_filter;     // Rate Yaw filter	599	LowPassFilterFloat rate_yaw_filter;     // Rate Yaw filter
+#endif // HELI_FRAME
 
 // Barometer filter
 AverageFilterInt32_Size5 baro_filter;

ArduCopter/Attitude.pde

@@ -259,6 +259,23 @@ update_rate_contoller_targets()
     }
 }
 
+///////////////////////////////////////////////////////////////////////////////////
+//  FILTERS DOES NOT BUILD -- NEEDS UPDATED LOWPASS FILTER LIBRARY
+/*
+#if FRAME_CONFIG == HELI_FRAME
+// init_rate_controllers - set-up filters for rate controller inputs
+void init_rate_controllers()
+{
+   // initalise low pass filters on rate controller inputs
+   // 1st parameter is time_step, 2nd parameter is time_constant
+   rate_roll_filter.set_time_constant(0.01, 1.0);
+   rate_pitch_filter.set_time_constant(0.01, 1.0);
+   rate_yaw_filter.set_time_constant(0.01, 1.0);
+   // other option for initialisation is rate_roll_filter.set_cutoff_frequency(<time_step>,<cutoff_freq>);
+}
+#endif // HELI_FRAME
+*/
+
 // run roll, pitch and yaw rate controllers and send output to motors
 // targets for these controllers comes from stabilize controllers
 void

ArduCopter/system.pde

@@ -289,6 +289,11 @@ static void init_ardupilot()
     init_sonar();
 #endif
 
+#if FRAME_CONIG == HELI_FRAME
+// initialise controller filters
+// init_rate_controllers();
+#endif // HELI_FRAME
+
     // initialize commands
     // -------------------
     init_commands();