mirror of https://github.com/ArduPilot/ardupilot
Copter: support for upgrade to PID object
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@ -1209,6 +1209,28 @@ void Copter::convert_pid_parameters(void)
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AP_Param::set_defaults_from_table(heli_defaults_table, ARRAY_SIZE(heli_defaults_table));
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#endif
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// attitude control filter parameter changes (from _FILT to FLTE or FLTD) for Copter-3.7
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const AP_Param::ConversionInfo ff_and_filt_conversion_info[] = {
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#if FRAME_CONFIG == HELI_FRAME
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// tradheli moves ATC_RAT_RLL/PIT_FILT to FLTE, ATC_RAT_YAW_FILT to FLTE
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{ Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTE" },
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{ Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTE" },
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{ Parameters::k_param_attitude_control, 388, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" },
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#else
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// multicopters move ATC_RAT_RLL/PIT_FILT to FLTD, ATC_RAT_YAW_FILT to FLTE
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{ Parameters::k_param_attitude_control, 385, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTD" },
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{ Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTD" },
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{ Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" },
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{ Parameters::k_param_attitude_control, 449, AP_PARAM_FLOAT, "ATC_RAT_RLL_FF" },
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{ Parameters::k_param_attitude_control, 450, AP_PARAM_FLOAT, "ATC_RAT_PIT_FF" },
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{ Parameters::k_param_attitude_control, 451, AP_PARAM_FLOAT, "ATC_RAT_YAW_FF" },
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#endif
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};
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uint8_t filt_table_size = ARRAY_SIZE(ff_and_filt_conversion_info);
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for (uint8_t i=0; i<filt_table_size; i++) {
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AP_Param::convert_old_parameters(&ff_and_filt_conversion_info[i], 1.0f);
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}
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const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old, Parameters::k_param_rc_2_old,
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Parameters::k_param_rc_3_old, Parameters::k_param_rc_4_old,
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Parameters::k_param_rc_5_old, Parameters::k_param_rc_6_old,
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@ -580,7 +580,7 @@ void Copter::allocate_motors(void)
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attitude_control->get_rate_yaw_pid().kI().set_default(0.015);
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break;
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case AP_Motors::MOTOR_FRAME_TRI:
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attitude_control->get_rate_yaw_pid().filt_hz().set_default(100);
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attitude_control->get_rate_yaw_pid().filt_D_hz().set_default(100);
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break;
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default:
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break;
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@ -215,7 +215,7 @@ void Copter::tuning()
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#endif
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case TUNING_RATE_YAW_FILT:
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attitude_control->get_rate_yaw_pid().filt_hz(tuning_value);
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attitude_control->get_rate_yaw_pid().filt_E_hz(tuning_value);
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break;
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#if WINCH_ENABLED == ENABLED
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