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AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD

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Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
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Leonard Hall 2021-08-03 13:35:05 +09:30 committed by Andrew Tridgell
parent a7c3b2244a
commit a9fb5ceb5c
1 changed files with 5 additions and 6 deletions
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11
libraries/AC_PID/AC_PID_2D.cpp
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@ -4,8 +4,7 @@
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include "AC_PID_2D.h" #include "AC_PID_2D.h"
#define AC_PID_2D_FILT_HZ_DEFAULT 20.0f // default input filter frequency #define AC_PID_2D_FILT_E_HZ_DEFAULT 20.0f // default input filter frequency
#define AC_PID_2D_FILT_HZ_MIN 0.01f // minimum input filter frequency
#define AC_PID_2D_FILT_D_HZ_DEFAULT 10.0f // default input filter frequency #define AC_PID_2D_FILT_D_HZ_DEFAULT 10.0f // default input filter frequency
#define AC_PID_2D_FILT_D_HZ_MIN 0.005f // minimum input filter frequency #define AC_PID_2D_FILT_D_HZ_MIN 0.005f // minimum input filter frequency
@ -25,22 +24,22 @@ const AP_Param::GroupInfo AC_PID_2D::var_info[] = {
// @Description: The maximum/minimum value that the I term can output // @Description: The maximum/minimum value that the I term can output
AP_GROUPINFO("IMAX", 2, AC_PID_2D, _kimax, 0), AP_GROUPINFO("IMAX", 2, AC_PID_2D, _kimax, 0),
// @Param: FILT // @Param: FLTE
// @DisplayName: PID Input filter frequency in Hz // @DisplayName: PID Input filter frequency in Hz
// @Description: Input filter frequency in Hz // @Description: Input filter frequency in Hz
// @Units: Hz // @Units: Hz
AP_GROUPINFO("FILT", 3, AC_PID_2D, _filt_E_hz, AC_PID_2D_FILT_HZ_DEFAULT), AP_GROUPINFO("FLTE", 3, AC_PID_2D, _filt_E_hz, AC_PID_2D_FILT_E_HZ_DEFAULT),
// @Param: D // @Param: D
// @DisplayName: PID Derivative Gain // @DisplayName: PID Derivative Gain
// @Description: D Gain which produces an output that is proportional to the rate of change of the error // @Description: D Gain which produces an output that is proportional to the rate of change of the error
AP_GROUPINFO("D", 4, AC_PID_2D, _kd, 0), AP_GROUPINFO("D", 4, AC_PID_2D, _kd, 0),
// @Param: D_FILT // @Param: FLTD
// @DisplayName: D term filter frequency in Hz // @DisplayName: D term filter frequency in Hz
// @Description: D term filter frequency in Hz // @Description: D term filter frequency in Hz
// @Units: Hz // @Units: Hz
AP_GROUPINFO("D_FILT", 5, AC_PID_2D, _filt_D_hz, AC_PID_2D_FILT_D_HZ_DEFAULT), AP_GROUPINFO("FLTD", 5, AC_PID_2D, _filt_D_hz, AC_PID_2D_FILT_D_HZ_DEFAULT),
// @Param: FF // @Param: FF
// @DisplayName: PID Feed Forward Gain // @DisplayName: PID Feed Forward Gain