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Copter: Add 'handle' to allow #define updating of AC_PID filter rate for Throttle Accel.

This commit is contained in:
Robert Lefebvre 2014-05-02 16:45:02 -04:00 committed by Randy Mackay
parent df1de4260d
commit 5eb206e6bb
2 changed files with 5 additions and 0 deletions
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4
ArduCopter/config.h
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@ -702,6 +702,10 @@
# define THROTTLE_ACCEL_IMAX 500
#endif
#ifndef THROTTLE_ACCEL_DTERM_FILTER
# define THROTTLE_ACCEL_DTERM_FILTER 20
#endif
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control

1
ArduCopter/system.pde
View File

@ -234,6 +234,7 @@ static void init_ardupilot()
g.pid_rate_roll.set_d_lpf_alpha(RATE_PID_DTERM_FILTER, MAIN_LOOP_SECONDS);
g.pid_rate_pitch.set_d_lpf_alpha(RATE_PID_DTERM_FILTER, MAIN_LOOP_SECONDS);
g.pid_rate_yaw.set_d_lpf_alpha(RATE_PID_DTERM_FILTER, MAIN_LOOP_SECONDS);
g.pid_throttle_accel.set_d_lpf_alpha(THROTTLE_ACCEL_DTERM_FILTER, MAIN_LOOP_SECONDS);
// init the optical flow sensor
if(g.optflow_enabled) {