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AR_AttitudeControl: reset input filter for steering and throttle controllers 

Also only set dt to non-zero value
This commit is contained in:
Randy Mackay 2017-10-26 14:58:10 +09:00
parent 91d489d91e
commit ee3daaa7c9
1 changed files with 4 additions and 1 deletions
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5
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -173,9 +173,11 @@ float AR_AttitudeControl::get_steering_out_rate(float desired_rate, bool skid_st
float dt = (now - _steer_turn_last_ms) / 1000.0f;
if (_steer_turn_last_ms == 0 || dt > 0.1) {
dt = 0.0f;
_steer_rate_pid.reset_filter();
} else {
_steer_rate_pid.set_dt(dt);
}
_steer_turn_last_ms = now;
_steer_rate_pid.set_dt(dt);
// get speed forward
float speed;
@ -252,6 +254,7 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool skid_
float dt = (now - _speed_last_ms) / 1000.0f;
if (_speed_last_ms == 0 || dt > 0.1) {
dt = 0.0f;
_throttle_speed_pid.reset_filter();
}
_speed_last_ms = now;