Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 05:58:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AR_AttitudeControl: allow filter to be zero

Browse Source 
Also increase default filter to 50hz
This commit is contained in:
Randy Mackay 2018-01-02 15:10:02 +09:00
parent 16d3e5c00d
commit 4ac5ef3a13
2 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/APM_Control/AR_AttitudeControl.cpp
View File

@ -59,7 +59,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Param: _STR_RAT_FILT
// @DisplayName: Steering control filter frequency
// @Description: Steering control input filter. Lower values reduce noise but add delay.
// @Range: 1.000 100.000
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz
// @User: Standard
@ -102,7 +102,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Param: _SPEED_FILT
// @DisplayName: Speed control filter frequency
// @Description: Speed control input filter. Lower values reduce noise but add delay.
// @Range: 1.000 100.000
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz
// @User: Standard

4
libraries/APM_Control/AR_AttitudeControl.h
View File

@ -12,12 +12,12 @@
#define AR_ATTCONTROL_STEER_RATE_I 0.50f
#define AR_ATTCONTROL_STEER_RATE_IMAX 1.00f
#define AR_ATTCONTROL_STEER_RATE_D 0.00f
#define AR_ATTCONTROL_STEER_RATE_FILT 5.00f
#define AR_ATTCONTROL_STEER_RATE_FILT 50.00f
#define AR_ATTCONTROL_THR_SPEED_P 0.20f
#define AR_ATTCONTROL_THR_SPEED_I 0.20f
#define AR_ATTCONTROL_THR_SPEED_IMAX 1.00f
#define AR_ATTCONTROL_THR_SPEED_D 0.00f
#define AR_ATTCONTROL_THR_SPEED_FILT 5.00f
#define AR_ATTCONTROL_THR_SPEED_FILT 50.00f
#define AR_ATTCONTROL_DT 0.02f
#define AR_ATTCONTROL_TIMEOUT_MS 200