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Copter: update PID notch centers at 1Hz with average loop rate

This commit is contained in:
Andy Piper 2023-07-27 15:59:43 +02:00 committed by Andrew Tridgell
parent bc03918ea4
commit aad51b7066
1 changed files with 7 additions and 0 deletions
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7
ArduCopter/Copter.cpp
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@ -671,6 +671,13 @@ void Copter::one_hz_loop()
#endif #endif
AP_Notify::flags.flying = !ap.land_complete; AP_Notify::flags.flying = !ap.land_complete;
// slowly update the PID notches with the average loop rate
attitude_control->set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
pos_control->get_accel_z_pid().set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
custom_control.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
#endif
} }
void Copter::init_simple_bearing() void Copter::init_simple_bearing()