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AC_PosControl: default z-axis controller to 400hz

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No functional change as vehicle code always sets it explicitely
This commit is contained in:
Randy Mackay 2015-11-17 15:48:05 +09:00
parent 916d63412e
commit 54cc2d884c
2 changed files with 2 additions and 2 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -37,7 +37,7 @@ AC_PosControl::AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
_pid_accel_z(pid_accel_z), _pid_accel_z(pid_accel_z),
_p_pos_xy(p_pos_xy), _p_pos_xy(p_pos_xy),
_pi_vel_xy(pi_vel_xy), _pi_vel_xy(pi_vel_xy),
_dt(POSCONTROL_DT_10HZ), _dt(POSCONTROL_DT_400HZ),
_dt_xy(POSCONTROL_DT_50HZ), _dt_xy(POSCONTROL_DT_50HZ),
_last_update_xy_ms(0), _last_update_xy_ms(0),
_last_update_z_ms(0), _last_update_z_ms(0),

2
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -32,8 +32,8 @@
#define POSCONTROL_LEASH_LENGTH_MIN 100.0f // minimum leash lengths in cm #define POSCONTROL_LEASH_LENGTH_MIN 100.0f // minimum leash lengths in cm
#define POSCONTROL_DT_10HZ 0.10f // time difference in seconds for 10hz update rate
#define POSCONTROL_DT_50HZ 0.02f // time difference in seconds for 50hz update rate #define POSCONTROL_DT_50HZ 0.02f // time difference in seconds for 50hz update rate
#define POSCONTROL_DT_400HZ 0.0025f // time difference in seconds for 400hz update rate
#define POSCONTROL_ACTIVE_TIMEOUT_MS 200 // position controller is considered active if it has been called within the past 0.2 seconds #define POSCONTROL_ACTIVE_TIMEOUT_MS 200 // position controller is considered active if it has been called within the past 0.2 seconds