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AP_WheelEncoder: update for new AC_PID settings 

enable filters with AP_FILTER_ENABLED
This commit is contained in:
Andy Piper 2023-10-01 18:21:01 +01:00 committed by Andrew Tridgell
parent cfebae5857
commit 5b0f30ad44
1 changed files with 13 additions and 57 deletions
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70
libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
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@ -91,12 +91,6 @@ const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
// @Description: Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output // @Description: Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0.000 1.000 // @Range: 0.000 1.000
// @Param: _RATE_ADV
// @DisplayName: Wheel rate Advanced parameters enable
// @Description: Wheel rate Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: _RATE_D_FF // @Param: _RATE_D_FF
// @DisplayName: Wheel rate Derivative FeedForward Gain // @DisplayName: Wheel rate Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the error // @Description: FF D Gain which produces an output that is proportional to the rate of change of the error
@ -105,31 +99,15 @@ const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
// @User: Advanced // @User: Advanced
// @Param: _RATE_NTF // @Param: _RATE_NTF
// @DisplayName: Wheel rate Target notch Filter center frequency // @DisplayName: Wheel rate Target notch filter index
// @Description: Wheel rate Target notch Filter center frequency in Hz. // @Description: Wheel rate Target notch filter index
// @Range: 10 495 // @Range: 1 8
// @Units: Hz
// @User: Advanced // @User: Advanced
// @Param: _RATE_NEF // @Param: _RATE_NEF
// @DisplayName: Wheel rate Error notch Filter center frequency // @DisplayName: Wheel rate Error notch filter index
// @Description: Wheel rate Error notch Filter center frequency in Hz. // @Description: Wheel rate Error notch filter index
// @Range: 10 495 // @Range: 1 8
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NBW
// @DisplayName: Wheel rate notch Filter bandwidth
// @Description: Wheel rate notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NATT
// @DisplayName: Wheel rate notch Filter attenuation
// @Description: Wheel rate notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced // @User: Advanced
AP_SUBGROUPINFO(_rate_pid0, "_RATE_", 3, AP_WheelRateControl, AC_PID), AP_SUBGROUPINFO(_rate_pid0, "_RATE_", 3, AP_WheelRateControl, AC_PID),
@ -207,12 +185,6 @@ const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
// @Description: Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output // @Description: Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0.000 1.000 // @Range: 0.000 1.000
// @Param: 2_RATE_ADV
// @DisplayName: Wheel rate Advanced parameters enable
// @Description: Wheel rate Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: 2_RATE_D_FF // @Param: 2_RATE_D_FF
// @DisplayName: Wheel rate Derivative FeedForward Gain // @DisplayName: Wheel rate Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
@ -221,31 +193,15 @@ const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
// @User: Advanced // @User: Advanced
// @Param: 2_RATE_NTF // @Param: 2_RATE_NTF
// @DisplayName: Wheel rate Target notch Filter center frequency // @DisplayName: Wheel rate Target notch filter index
// @Description: Wheel rate Target notch Filter center frequency in Hz. // @Description: Wheel rate Target notch filter index
// @Range: 10 495 // @Range: 1 8
// @Units: Hz
// @User: Advanced // @User: Advanced
// @Param: 2_RATE_NEF // @Param: 2_RATE_NEF
// @DisplayName: Wheel rate Error notch Filter center frequency // @DisplayName: Wheel rate Error notch filter index
// @Description: Wheel rate Error notch Filter center frequency in Hz. // @Description: Wheel rate Error notch filter index
// @Range: 10 495 // @Range: 1 8
// @Units: Hz
// @User: Advanced
// @Param: 2_RATE_NBW
// @DisplayName: Wheel rate notch Filter bandwidth
// @Description: Wheel rate notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: 2_RATE_NATT
// @DisplayName: Wheel rate notch Filter attenuation
// @Description: Wheel rate notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced // @User: Advanced
AP_SUBGROUPINFO(_rate_pid1, "2_RATE_", 4, AP_WheelRateControl, AC_PID), AP_SUBGROUPINFO(_rate_pid1, "2_RATE_", 4, AP_WheelRateControl, AC_PID),
@ -320,7 +276,7 @@ AC_PID& AP_WheelRateControl::get_pid(uint8_t instance)
void AP_WheelRateControl::set_notch_sample_rate(float sample_rate) void AP_WheelRateControl::set_notch_sample_rate(float sample_rate)
{ {
#if AC_PID_ADVANCED_ENABLED #if AP_FILTER_ENABLED
_rate_pid0.set_notch_sample_rate(sample_rate); _rate_pid0.set_notch_sample_rate(sample_rate);
_rate_pid1.set_notch_sample_rate(sample_rate); _rate_pid1.set_notch_sample_rate(sample_rate);
#endif #endif