From 34da437266f25151fd704cd313d1af4e47bc9755 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Thu, 27 Jun 2019 19:06:57 +0930 Subject: [PATCH] Plane: support for upgrade to PID object --- ArduPlane/quadplane.cpp | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index a0499a1795..9115eb59ce 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -452,10 +452,10 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = { static const struct AP_Param::defaults_table_struct defaults_table[] = { { "Q_A_RAT_RLL_P", 0.25 }, { "Q_A_RAT_RLL_I", 0.25 }, - { "Q_A_RAT_RLL_FILT", 10.0 }, + { "Q_A_RAT_RLL_FLTD", 10.0 }, { "Q_A_RAT_PIT_P", 0.25 }, { "Q_A_RAT_PIT_I", 0.25 }, - { "Q_A_RAT_PIT_FILT", 10.0 }, + { "Q_A_RAT_PIT_FLTD", 10.0 }, { "Q_M_SPOOL_TIME", 0.25 }, { "Q_M_HOVER_LEARN", 0 }, { "Q_LOIT_ANG_MAX", 15.0 }, @@ -495,12 +495,18 @@ const AP_Param::ConversionInfo q_conversion_table[] = { { Parameters::k_param_quadplane, 80, AP_PARAM_FLOAT, "Q_P_ACCZ_I"}, // Q_AZ_I { Parameters::k_param_quadplane, 144, AP_PARAM_FLOAT, "Q_P_ACCZ_D"}, // Q_AZ_D { Parameters::k_param_quadplane, 336, AP_PARAM_FLOAT, "Q_P_ACCZ_IMAX"}, // Q_AZ_IMAX - { Parameters::k_param_quadplane, 400, AP_PARAM_FLOAT, "Q_P_ACCZ_FILT"}, // Q_AZ_FILT + { Parameters::k_param_quadplane, 400, AP_PARAM_FLOAT, "Q_P_ACCZ_FLTD"}, // Q_AZ_FILT { Parameters::k_param_quadplane, 464, AP_PARAM_FLOAT, "Q_P_ACCZ_FF"}, // Q_AZ_FF { Parameters::k_param_quadplane, 276, AP_PARAM_FLOAT, "Q_LOIT_SPEED"}, // Q_WP_LOIT_SPEED { Parameters::k_param_quadplane, 468, AP_PARAM_FLOAT, "Q_LOIT_BRK_JERK" },// Q_WP_LOIT_JERK { Parameters::k_param_quadplane, 532, AP_PARAM_FLOAT, "Q_LOIT_ACC_MAX" }, // Q_WP_LOIT_MAXA { Parameters::k_param_quadplane, 596, AP_PARAM_FLOAT, "Q_LOIT_BRK_ACCEL" },// Q_WP_LOIT_MINA + { Parameters::k_param_q_attitude_control, 385, AP_PARAM_FLOAT, "Q_A_RAT_RLL_FLTD" },// Q_A_RAT_RLL_FILT + { Parameters::k_param_q_attitude_control, 386, AP_PARAM_FLOAT, "Q_A_RAT_PIT_FLTD" },// Q_A_RAT_PIT_FILT + { Parameters::k_param_q_attitude_control, 387, AP_PARAM_FLOAT, "Q_A_RAT_YAW_FLTE" },// Q_A_RAT_YAW_FILT + { Parameters::k_param_q_attitude_control, 449, AP_PARAM_FLOAT, "Q_A_RAT_RLL_FF" }, // Q_A_RAT_RLL_FF + { Parameters::k_param_q_attitude_control, 450, AP_PARAM_FLOAT, "Q_A_RAT_PIT_FF" }, // Q_A_RAT_PIT_FF + { Parameters::k_param_q_attitude_control, 451, AP_PARAM_FLOAT, "Q_A_RAT_YAW_FF" }, // Q_A_RAT_YAW_FILT };