From 50b4c072619ec878feecfaa5a905abeaf229a70e Mon Sep 17 00:00:00 2001 From: Jason Short Date: Tue, 13 Mar 2012 12:58:46 -0700 Subject: [PATCH] Lowering the D filter for less latency and less oscillation. --- ArduCopter/ArduCopter.pde | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index d1b02410f6..06a66a3b38 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -526,8 +526,8 @@ int32_t pitch_axis; AverageFilterInt32_Size3 roll_rate_d_filter; // filtered acceleration AverageFilterInt32_Size3 pitch_rate_d_filter; // filtered pitch acceleration -AverageFilterInt16_Size5 lat_rate_d_filter; // for filtering D term -AverageFilterInt16_Size5 lon_rate_d_filter; // for filtering D term +AverageFilterInt16_Size2 lat_rate_d_filter; // for filtering D term +AverageFilterInt16_Size2 lon_rate_d_filter; // for filtering D term // Barometer filter AverageFilterInt32_Size5 baro_filter; // filtered pitch acceleration