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Copter: AC_AttitudeControl: RP_FILT_HZ to RPY_FILT_HZ

This commit is contained in:
lthall 2024-02-23 16:36:31 +10:30 committed by Randy Mackay
parent 44977938d8
commit 728d9a9f96
1 changed files with 8 additions and 8 deletions
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16
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
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@ -19,8 +19,8 @@
#ifndef AC_ATC_MULTI_RATE_RP_IMAX
# define AC_ATC_MULTI_RATE_RP_IMAX 0.5f
#endif
#ifndef AC_ATC_MULTI_RATE_RP_FILT_HZ
# define AC_ATC_MULTI_RATE_RP_FILT_HZ 20.0f
#ifndef AC_ATC_MULTI_RATE_RPY_FILT_HZ
# define AC_ATC_MULTI_RATE_RPY_FILT_HZ 20.0f
#endif
#ifndef AC_ATC_MULTI_RATE_YAW_P
# define AC_ATC_MULTI_RATE_YAW_P 0.180f
@ -106,9 +106,9 @@ protected:
.d = AC_ATC_MULTI_RATE_RP_D,
.ff = 0.0f,
.imax = AC_ATC_MULTI_RATE_RP_IMAX,
.filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
.filt_T_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
.filt_E_hz = 0.0f,
.filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
.filt_D_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
.srmax = 0,
.srtau = 1.0
}
@ -120,9 +120,9 @@ protected:
.d = AC_ATC_MULTI_RATE_RP_D,
.ff = 0.0f,
.imax = AC_ATC_MULTI_RATE_RP_IMAX,
.filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
.filt_T_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
.filt_E_hz = 0.0f,
.filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
.filt_D_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
.srmax = 0,
.srtau = 1.0
}
@ -135,9 +135,9 @@ protected:
.d = AC_ATC_MULTI_RATE_YAW_D,
.ff = 0.0f,
.imax = AC_ATC_MULTI_RATE_YAW_IMAX,
.filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
.filt_T_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
.filt_E_hz = AC_ATC_MULTI_RATE_YAW_FILT_HZ,
.filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
.filt_D_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
.srmax = 0,
.srtau = 1.0
}