diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp index c093d2d40e..85689d1dce 100644 --- a/libraries/APM_Control/AP_PitchController.cpp +++ b/libraries/APM_Control/AP_PitchController.cpp @@ -137,45 +137,23 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] = { // @Range: 0 1 // @Increment: 0.01 - // @Param: _RATE_ADV - // @DisplayName: Pitch Advanced parameters enable - // @Description: Pitch Advanced parameters enable - // @Values: 0:Disabled,1:Enabled - // @User: Advanced - // @Param: _RATE_D_FF // @DisplayName: Pitch Derivative FeedForward Gain // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target - // @Range: 0.001 0.03 + // @Range: 0 0.03 // @Increment: 0.001 // @User: Advanced // @Param: _RATE_NTF - // @DisplayName: Pitch Target notch Filter center frequency - // @Description: Pitch Target notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz + // @DisplayName: Pitch Target notch filter index + // @Description: Pitch Target notch filter index + // @Range: 1 8 // @User: Advanced // @Param: _RATE_NEF - // @DisplayName: Pitch Error notch Filter center frequency - // @Description: Pitch Error notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz - // @User: Advanced - - // @Param: _RATE_NBW - // @DisplayName: Pitch notch Filter bandwidth - // @Description: Pitch notch Filter bandwidth in Hz. - // @Range: 5 250 - // @Units: Hz - // @User: Advanced - - // @Param: _RATE_NATT - // @DisplayName: Pitch notch Filter attenuation - // @Description: Pitch notch Filter attenuation in dB. - // @Range: 5 50 - // @Units: dB + // @DisplayName: Pitch Error notch filter index + // @Description: Pitch Error notch filter index + // @Range: 1 8 // @User: Advanced AP_SUBGROUPINFO(rate_pid, "_RATE_", 11, AP_PitchController, AC_PID), diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp index 0cd9e7076a..2ec7efd6c1 100644 --- a/libraries/APM_Control/AP_RollController.cpp +++ b/libraries/APM_Control/AP_RollController.cpp @@ -120,45 +120,23 @@ const AP_Param::GroupInfo AP_RollController::var_info[] = { // @Range: 0 1 // @Increment: 0.01 - // @Param: _RATE_ADV - // @DisplayName: Roll Advanced parameters enable - // @Description: Roll Advanced parameters enable - // @Values: 0:Disabled,1:Enabled - // @User: Advanced - // @Param: _RATE_D_FF // @DisplayName: Roll Derivative FeedForward Gain // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target - // @Range: 0.001 0.03 + // @Range: 0 0.03 // @Increment: 0.001 // @User: Advanced // @Param: _RATE_NTF - // @DisplayName: Roll Target notch Filter center frequency - // @Description: Roll Target notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz + // @DisplayName: Roll Target notch filter index + // @Description: Roll Target notch filter index + // @Range: 1 8 // @User: Advanced // @Param: _RATE_NEF - // @DisplayName: Roll Error notch Filter center frequency - // @Description: Roll Error notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz - // @User: Advanced - - // @Param: _RATE_NBW - // @DisplayName: Roll notch Filter bandwidth - // @Description: Roll notch Filter bandwidth in Hz. - // @Range: 5 250 - // @Units: Hz - // @User: Advanced - - // @Param: _RATE_NATT - // @DisplayName: Roll notch Filter attenuation - // @Description: Roll notch Filter attenuation in dB. - // @Range: 5 50 - // @Units: dB + // @DisplayName: Roll Error notch filter index + // @Description: Roll Error notch filter index + // @Range: 1 8 // @User: Advanced AP_SUBGROUPINFO(rate_pid, "_RATE_", 9, AP_RollController, AC_PID), diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp index 04fc1890be..af60641e06 100644 --- a/libraries/APM_Control/AP_YawController.cpp +++ b/libraries/APM_Control/AP_YawController.cpp @@ -151,45 +151,23 @@ const AP_Param::GroupInfo AP_YawController::var_info[] = { // @Range: 0 1 // @Increment: 0.01 - // @Param: _RATE_ADV - // @DisplayName: Yaw Advanced parameters enable - // @Description: Yaw Advanced parameters enable - // @Values: 0:Disabled,1:Enabled - // @User: Advanced - // @Param: _RATE_D_FF // @DisplayName: Yaw Derivative FeedForward Gain // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target - // @Range: 0.001 0.03 + // @Range: 0 0.03 // @Increment: 0.001 // @User: Advanced // @Param: _RATE_NTF - // @DisplayName: Yaw Target notch Filter center frequency - // @Description: Yaw Target notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz + // @DisplayName: Yaw Target notch filter index + // @Description: Yaw Target notch filter index + // @Range: 1 8 // @User: Advanced // @Param: _RATE_NEF - // @DisplayName: Yaw Error notch Filter center frequency - // @Description: Yaw Error notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz - // @User: Advanced - - // @Param: _RATE_NBW - // @DisplayName: Yaw notch Filter bandwidth - // @Description: Yaw notch Filter bandwidth in Hz. - // @Range: 5 250 - // @Units: Hz - // @User: Advanced - - // @Param: _RATE_NATT - // @DisplayName: Yaw notch Filter attenuation - // @Description: Yaw notch Filter attenuation in dB. - // @Range: 5 50 - // @Units: dB + // @DisplayName: Yaw Error notch filter index + // @Description: Yaw Error notch filter index + // @Range: 1 8 // @User: Advanced AP_SUBGROUPINFO(rate_pid, "_RATE_", 9, AP_YawController, AC_PID), diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp index 140f8a832d..67f12c20e9 100644 --- a/libraries/APM_Control/AR_AttitudeControl.cpp +++ b/libraries/APM_Control/AR_AttitudeControl.cpp @@ -147,45 +147,23 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = { // @Range: 0.000 1.000 // @Increment: 0.01 - // @Param: _STR_RAT_ADV - // @DisplayName: Steering control Advanced parameters enable - // @Description: Steering control Advanced parameters enable - // @Values: 0:Disabled,1:Enabled - // @User: Advanced - // @Param: _STR_RAT_D_FF // @DisplayName: Steering control Derivative FeedForward Gain // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target - // @Range: 0.001 0.03 + // @Range: 0 0.03 // @Increment: 0.001 // @User: Advanced // @Param: _STR_RAT_NTF - // @DisplayName: Steering control Target notch Filter center frequency - // @Description: Steering control Target notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz + // @DisplayName: Steering control Target notch filter index + // @Description: Steering control Target notch filter index + // @Range: 1 8 // @User: Advanced // @Param: _STR_RAT_NEF - // @DisplayName: Steering control Error notch Filter center frequency - // @Description: Steering control Error notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz - // @User: Advanced - - // @Param: _STR_RAT_NBW - // @DisplayName: Steering control notch Filter bandwidth - // @Description: Steering control notch Filter bandwidth in Hz. - // @Range: 5 250 - // @Units: Hz - // @User: Advanced - - // @Param: _STR_RAT_NATT - // @DisplayName: Steering control notch Filter attenuation - // @Description: Steering control notch Filter attenuation in dB. - // @Range: 5 50 - // @Units: dB + // @DisplayName: Steering control Error notch filter index + // @Description: Steering control Error notch filter index + // @Range: 1 8 // @User: Advanced AP_SUBGROUPINFO(_steer_rate_pid, "_STR_RAT_", 1, AR_AttitudeControl, AC_PID), @@ -270,45 +248,23 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = { // @Range: 0.000 1.000 // @Increment: 0.01 - // @Param: _SPEED_ADV - // @DisplayName: Speed control Advanced parameters enable - // @Description: Speed control Advanced parameters enable - // @Values: 0:Disabled,1:Enabled - // @User: Advanced - // @Param: _SPEED_D_FF // @DisplayName: Speed control Derivative FeedForward Gain // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target - // @Range: 0.001 0.03 + // @Range: 0 0.03 // @Increment: 0.001 // @User: Advanced // @Param: _SPEED_NTF - // @DisplayName: Speed control Target notch Filter center frequency - // @Description: Speed control Target notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz + // @DisplayName: Speed control Target notch filter index + // @Description: Speed control Target notch filter index + // @Range: 1 8 // @User: Advanced // @Param: _SPEED_NEF - // @DisplayName: Speed control Error notch Filter center frequency - // @Description: Speed control Error notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz - // @User: Advanced - - // @Param: _SPEED_NBW - // @DisplayName: Speed control notch Filter bandwidth - // @Description: Speed control notch Filter bandwidth in Hz. - // @Range: 5 250 - // @Units: Hz - // @User: Advanced - - // @Param: _SPEED_NATT - // @DisplayName: Speed control notch Filter attenuation - // @Description: Speed control notch Filter attenuation in dB. - // @Range: 5 50 - // @Units: dB + // @DisplayName: Speed control Error notch filter index + // @Description: Speed control Error notch filter index + // @Range: 1 8 // @User: Advanced AP_SUBGROUPINFO(_throttle_speed_pid, "_SPEED_", 2, AR_AttitudeControl, AC_PID), @@ -453,45 +409,23 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = { // @Range: 0.000 1.000 // @Increment: 0.01 - // @Param: _BAL_ADV - // @DisplayName: Pitch control Advanced parameters enable - // @Description: Pitch control Advanced parameters enable - // @Values: 0:Disabled,1:Enabled - // @User: Advanced - // @Param: _BAL_D_FF // @DisplayName: Pitch control Derivative FeedForward Gain // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target - // @Range: 0.001 0.03 + // @Range: 0 0.03 // @Increment: 0.001 // @User: Advanced // @Param: _BAL_NTF - // @DisplayName: Pitch control Target notch Filter center frequency - // @Description: Pitch control Target notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz + // @DisplayName: Pitch control Target notch filter index + // @Description: Pitch control Target notch filter index + // @Range: 1 8 // @User: Advanced // @Param: _BAL_NEF - // @DisplayName: Pitch control Error notch Filter center frequency - // @Description: Pitch control Error notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz - // @User: Advanced - - // @Param: _BAL_NBW - // @DisplayName: Pitch control notch Filter bandwidth - // @Description: Pitch control notch Filter bandwidth in Hz. - // @Range: 5 250 - // @Units: Hz - // @User: Advanced - - // @Param: _BAL_NATT - // @DisplayName: Pitch control notch Filter attenuation - // @Description: Pitch control notch Filter attenuation in dB. - // @Range: 5 50 - // @Units: dB + // @DisplayName: Pitch control Error notch filter index + // @Description: Pitch control Error notch filter index + // @Range: 1 8 // @User: Advanced AP_SUBGROUPINFO(_pitch_to_throttle_pid, "_BAL_", 10, AR_AttitudeControl, AC_PID), @@ -584,45 +518,23 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = { // @Range: 0.000 1.000 // @Increment: 0.01 - // @Param: _SAIL_ADV - // @DisplayName: Sail Heel Advanced parameters enable - // @Description: Sail Heel Advanced parameters enable - // @Values: 0:Disabled,1:Enabled - // @User: Advanced - // @Param: _SAIL_D_FF // @DisplayName: Sail Heel Derivative FeedForward Gain // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target - // @Range: 0.001 0.03 + // @Range: 0 0.03 // @Increment: 0.001 // @User: Advanced // @Param: _SAIL_NTF - // @DisplayName: Sail Heel Target notch Filter center frequency - // @Description: Sail Heel Target notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz + // @DisplayName: Sail Heel Target notch filter index + // @Description: Sail Heel Target notch filter index + // @Range: 1 8 // @User: Advanced // @Param: _SAIL_NEF - // @DisplayName: Sail Heel Error notch Filter center frequency - // @Description: Sail Heel Error notch Filter center frequency in Hz. - // @Range: 10 495 - // @Units: Hz - // @User: Advanced - - // @Param: _SAIL_NBW - // @DisplayName: Sail Heel notch Filter bandwidth - // @Description: Sail Heel notch Filter bandwidth in Hz. - // @Range: 5 250 - // @Units: Hz - // @User: Advanced - - // @Param: _SAIL_NATT - // @DisplayName: Sail Heel notch Filter attenuation - // @Description: Sail Heel notch Filter attenuation in dB. - // @Range: 5 50 - // @Units: dB + // @DisplayName: Sail Heel Error notch filter index + // @Description: Sail Heel Error notch filter index + // @Range: 1 8 // @User: Advanced AP_SUBGROUPINFO(_sailboat_heel_pid, "_SAIL_", 12, AR_AttitudeControl, AC_PID), @@ -1167,7 +1079,7 @@ void AR_AttitudeControl::relax_I() void AR_AttitudeControl::set_notch_sample_rate(float sample_rate) { -#if AC_PID_ADVANCED_ENABLED +#if AP_FILTER_ENABLED _steer_rate_pid.set_notch_sample_rate(sample_rate); _throttle_speed_pid.set_notch_sample_rate(sample_rate); _pitch_to_throttle_pid.set_notch_sample_rate(sample_rate);