From 61d6c44e3b0812a13bf6b27dee58fe1b1dde2576 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Mon, 7 Sep 2015 12:24:23 +0900
Subject: [PATCH] Copter: tricopter yaw rate filter to 100hz

---
 ArduCopter/config.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 607e4766af..9d3edad354 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -139,6 +139,12 @@
   # define RATE_YAW_I                   0.015f
 #endif
 
+/////////////////////////////////////////////////////////////////////////////////
+// Tri defaults
+#if FRAME_CONFIG == TRI_FRAME
+  # define RATE_YAW_FILT_HZ             100.0f
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // PWM control
 // default RC speed in Hz