aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AC_AttControlHeli: add comments

Browse Source
This commit is contained in:
Randy Mackay 2014-02-03 20:49:16 +09:00 committed by Andrew Tridgell
parent b0673d693b
commit 082c5021ee
1 changed files with 8 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
View File

@ -159,6 +159,14 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target
motor_pitch = pitch_out;
/*
#if HELI_CC_COMP == ENABLED
static LowPassFilterFloat rate_dynamics_filter; // Rate Dynamics filter
#endif
#if HELI_CC_COMP == ENABLED
rate_dynamics_filter.set_cutoff_frequency(0.01f, 4.0f);
#endif
#if AC_ATTITUDE_HELI_CC_COMP == ENABLED
// Do cross-coupling compensation for low rpm helis
// Credit: Jolyon Saunders