From 85f963b9613bb6a00a6c4d4948b7c3cb97f9f0d5 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 24 Oct 2019 13:25:57 +0900 Subject: [PATCH] Copter: multicopter ATC_RAT_RLL/PIT_FILT copied to FLTD and FLTT --- ArduCopter/Parameters.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp index 22c1ec2b0a..3caa299be3 100644 --- a/ArduCopter/Parameters.cpp +++ b/ArduCopter/Parameters.cpp @@ -1233,7 +1233,8 @@ void Copter::convert_pid_parameters(void) AP_Param::set_defaults_from_table(heli_defaults_table, ARRAY_SIZE(heli_defaults_table)); #endif - // attitude control filter parameter changes (from _FILT to FLTE or FLTD) for Copter-3.7 + // attitude control filter parameter changes (from _FILT to FLTD, FLTE, FLTT) for Copter-4.0 + // magic numbers shown below are discovered by setting AP_PARAM_KEY_DUMP = 1 const AP_Param::ConversionInfo ff_and_filt_conversion_info[] = { #if FRAME_CONFIG == HELI_FRAME // tradheli moves ATC_RAT_RLL/PIT_FILT to FLTE, ATC_RAT_YAW_FILT to FLTE @@ -1241,9 +1242,11 @@ void Copter::convert_pid_parameters(void) { Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTE" }, { Parameters::k_param_attitude_control, 388, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" }, #else - // multicopters move ATC_RAT_RLL/PIT_FILT to FLTD, ATC_RAT_YAW_FILT to FLTE + // multicopters move ATC_RAT_RLL/PIT_FILT to FLTD & FLTT, ATC_RAT_YAW_FILT to FLTE { Parameters::k_param_attitude_control, 385, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTD" }, + { Parameters::k_param_attitude_control, 385, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTT" }, { Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTD" }, + { Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTT" }, { Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" }, { Parameters::k_param_attitude_control, 449, AP_PARAM_FLOAT, "ATC_RAT_RLL_FF" }, { Parameters::k_param_attitude_control, 450, AP_PARAM_FLOAT, "ATC_RAT_PIT_FF" },