mirror of https://github.com/ArduPilot/ardupilot
AC_PosControl: default z-axis controller to 400hz
No functional change as vehicle code always sets it explicitely
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@ -37,7 +37,7 @@ AC_PosControl::AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
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_pid_accel_z(pid_accel_z),
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_p_pos_xy(p_pos_xy),
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_pi_vel_xy(pi_vel_xy),
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_dt(POSCONTROL_DT_10HZ),
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_dt(POSCONTROL_DT_400HZ),
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_dt_xy(POSCONTROL_DT_50HZ),
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_last_update_xy_ms(0),
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_last_update_z_ms(0),
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@ -33,8 +33,8 @@
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#define POSCONTROL_LEASH_LENGTH_MIN 100.0f // minimum leash lengths in cm
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#define POSCONTROL_DT_10HZ 0.10f // time difference in seconds for 10hz update rate
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#define POSCONTROL_DT_50HZ 0.02f // time difference in seconds for 50hz update rate
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#define POSCONTROL_DT_400HZ 0.0025f // time difference in seconds for 400hz update rate
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#define POSCONTROL_ACTIVE_TIMEOUT_MS 200 // position controller is considered active if it has been called within the past 0.2 seconds
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