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Copter: multicopter ATC_RAT_RLL/PIT_FILT copied to FLTD and FLTT

This commit is contained in:
Randy Mackay 2019-10-24 13:25:57 +09:00
parent cd98659abe
commit 85f963b961
1 changed files with 5 additions and 2 deletions
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7
ArduCopter/Parameters.cpp
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@ -1233,7 +1233,8 @@ void Copter::convert_pid_parameters(void)
AP_Param::set_defaults_from_table(heli_defaults_table, ARRAY_SIZE(heli_defaults_table));
#endif
// attitude control filter parameter changes (from _FILT to FLTE or FLTD) for Copter-3.7
// attitude control filter parameter changes (from _FILT to FLTD, FLTE, FLTT) for Copter-4.0
// magic numbers shown below are discovered by setting AP_PARAM_KEY_DUMP = 1
const AP_Param::ConversionInfo ff_and_filt_conversion_info[] = {
#if FRAME_CONFIG == HELI_FRAME
// tradheli moves ATC_RAT_RLL/PIT_FILT to FLTE, ATC_RAT_YAW_FILT to FLTE
@ -1241,9 +1242,11 @@ void Copter::convert_pid_parameters(void)
{ Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTE" },
{ Parameters::k_param_attitude_control, 388, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" },
#else
// multicopters move ATC_RAT_RLL/PIT_FILT to FLTD, ATC_RAT_YAW_FILT to FLTE
// multicopters move ATC_RAT_RLL/PIT_FILT to FLTD & FLTT, ATC_RAT_YAW_FILT to FLTE
{ Parameters::k_param_attitude_control, 385, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTD" },
{ Parameters::k_param_attitude_control, 385, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTT" },
{ Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTD" },
{ Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTT" },
{ Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" },
{ Parameters::k_param_attitude_control, 449, AP_PARAM_FLOAT, "ATC_RAT_RLL_FF" },
{ Parameters::k_param_attitude_control, 450, AP_PARAM_FLOAT, "ATC_RAT_PIT_FF" },