Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: use new lowpass filter

Browse Source
This commit is contained in:
Jonathan Challinger 2015-04-16 12:36:02 -07:00 committed by Randy Mackay
parent 87500d9d70
commit 4993fd4d71
2 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -127,11 +127,11 @@ AP_Motors::AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_t
_flags.slow_start_low_end = true;
// setup battery voltage filtering
_batt_voltage_filt.set_cutoff_frequency(1.0f/_loop_rate,AP_MOTORS_BATT_VOLT_FILT_HZ);
_batt_voltage_filt.set_cutoff_frequency(AP_MOTORS_BATT_VOLT_FILT_HZ);
_batt_voltage_filt.reset(1.0f);
// setup throttle filtering
_throttle_filter.set_cutoff_frequency(1.0f/_loop_rate,0.0f);
_throttle_filter.set_cutoff_frequency(0.0f);
_throttle_filter.reset(0.0f);
};
@ -214,7 +214,7 @@ void AP_Motors::slow_start(bool true_false)
void AP_Motors::update_throttle_filter()
{
if (armed()) {
_throttle_filter.apply(_throttle_in);
_throttle_filter.apply(_throttle_in, 1.0f/_loop_rate);
} else {
_throttle_filter.reset(0.0f);
}
@ -315,7 +315,7 @@ void AP_Motors::update_lift_max_from_batt_voltage()
batt_voltage = constrain_float(batt_voltage, _batt_voltage_min, _batt_voltage_max);
// filter at 0.5 Hz
float bvf = _batt_voltage_filt.apply(batt_voltage/_batt_voltage_max);
float bvf = _batt_voltage_filt.apply(batt_voltage/_batt_voltage_max, 1.0f/_loop_rate);
// calculate lift max
_lift_max = bvf*(1-_thrust_curve_expo) + _thrust_curve_expo*bvf*bvf;

2
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -130,7 +130,7 @@ public:
int16_t get_yaw() const { return _rc_yaw.servo_out; }
int16_t get_throttle_out() const { return _rc_throttle.servo_out; }
void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(1.0f/_loop_rate,filt_hz); }
void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); }
// output - sends commands to the motors
void output();