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

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Andy Piper 2023-08-27 20:01:23 +01:00 committed by Andrew Tridgell
parent d6287e90f1
commit e327691540
1 changed files with 1 additions and 0 deletions
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Rover/Rover.cpp
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@ -468,6 +468,7 @@ void Rover::one_second_loop(void)
// send latest param values to wp_nav // send latest param values to wp_nav
g2.wp_nav.set_turn_params(g2.turn_radius, g2.motors.have_skid_steering()); g2.wp_nav.set_turn_params(g2.turn_radius, g2.motors.have_skid_steering());
g2.pos_control.set_turn_params(g2.turn_radius, g2.motors.have_skid_steering()); g2.pos_control.set_turn_params(g2.turn_radius, g2.motors.have_skid_steering());
g2.wheel_rate_control.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
} }
void Rover::update_current_mode(void) void Rover::update_current_mode(void)