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AC_PosControl: set Alt_Hold filter for PID not just D

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We normally don't use the D term here so setting the filter for PID not
just D lets us smooth the throttle response.
This commit is contained in:
Leonard Hall 2016-10-23 17:48:55 +10:30 committed by Randy Mackay
parent 71b5584d17
commit f4605b863c
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -463,7 +463,7 @@ void AC_PosControl::accel_to_throttle(float accel_target_z)
} }
// set input to PID // set input to PID
_pid_accel_z.set_input_filter_d(_accel_error.z); _pid_accel_z.set_input_filter_all(_accel_error.z);
_pid_accel_z.set_desired_rate(accel_target_z); _pid_accel_z.set_desired_rate(accel_target_z);
// separately calculate p, i, d values for logging // separately calculate p, i, d values for logging