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Copter: ch6 tuning of yaw rate filter

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Leonard Hall 2015-03-04 12:48:28 +09:00 committed by Randy Mackay
parent 2b0fb45fe8
commit 1ec5eedd23
2 changed files with 5 additions and 0 deletions
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1
ArduCopter/defines.h
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@ -153,6 +153,7 @@
#define CH6_RATE_ROLL_FF 53 // body frame roll rate controller FF term #define CH6_RATE_ROLL_FF 53 // body frame roll rate controller FF term
#define CH6_RATE_YAW_FF 54 // body frame yaw rate controller FF term #define CH6_RATE_YAW_FF 54 // body frame yaw rate controller FF term
#define CH6_RATE_MOT_YAW_HEADROOM 55 // motors yaw headroom minimum #define CH6_RATE_MOT_YAW_HEADROOM 55 // motors yaw headroom minimum
#define CH6_RATE_YAW_FILT 56 // yaw rate input filter
// Acro Trainer types // Acro Trainer types
#define ACRO_TRAINER_DISABLED 0 #define ACRO_TRAINER_DISABLED 0

4
ArduCopter/tuning.pde
View File

@ -200,5 +200,9 @@ static void tuning() {
case CH6_RATE_MOT_YAW_HEADROOM: case CH6_RATE_MOT_YAW_HEADROOM:
motors.set_yaw_headroom(tuning_value*1000); motors.set_yaw_headroom(tuning_value*1000);
break; break;
case CH6_RATE_YAW_FILT:
g.pid_rate_yaw.filt_hz(tuning_value);
break;
} }
} }