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AC_AttitudeControlHeli: Change Rate Yaw FF LPF from 5Hz to 10Hz.

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Robert Lefebvre 2015-05-22 16:01:37 -04:00 committed by Andrew Tridgell
parent 22524daf5f
commit 810b12a1ac
1 changed files with 5 additions and 4 deletions
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9
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
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@ -11,7 +11,8 @@
#include <Filter.h> #include <Filter.h>
#define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE 0.02f #define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE 0.02f
#define AC_ATTITUDE_HELI_RATE_FF_FILTER 5.0f #define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER 5.0f
#define AC_ATTITUDE_HELI_RATE_Y_FF_FILTER 10.0f
class AC_AttitudeControl_Heli : public AC_AttitudeControl { class AC_AttitudeControl_Heli : public AC_AttitudeControl {
public: public:
@ -25,9 +26,9 @@ public:
p_angle_roll, p_angle_pitch, p_angle_yaw, p_angle_roll, p_angle_pitch, p_angle_yaw,
pid_rate_roll, pid_rate_pitch, pid_rate_yaw), pid_rate_roll, pid_rate_pitch, pid_rate_yaw),
_passthrough_roll(0), _passthrough_pitch(0), _passthrough_roll(0), _passthrough_pitch(0),
pitch_feedforward_filter(AC_ATTITUDE_HELI_RATE_FF_FILTER), pitch_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER),
roll_feedforward_filter(AC_ATTITUDE_HELI_RATE_FF_FILTER), roll_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER),
yaw_feedforward_filter(AC_ATTITUDE_HELI_RATE_FF_FILTER) yaw_feedforward_filter(AC_ATTITUDE_HELI_RATE_Y_FF_FILTER)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
} }