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mc_att_control: update & reset d-term lowpass filter only when frequency changes

This commit is contained in:
Beat Küng 2018-02-19 16:10:53 +01:00 committed by Lorenz Meier
parent 5b7c062f67
commit 7b5b1c4f23
1 changed files with 9 additions and 6 deletions
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15
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -558,12 +558,15 @@ MulticopterAttitudeControl::parameters_update()
_params.rate_ff(1) = v;
param_get(_params_handles.d_term_cutoff_freq, &_params.d_term_cutoff_freq);
_lp_filters_d[0].set_cutoff_frequency(_loop_update_rate_hz, _params.d_term_cutoff_freq);
_lp_filters_d[1].set_cutoff_frequency(_loop_update_rate_hz, _params.d_term_cutoff_freq);
_lp_filters_d[2].set_cutoff_frequency(_loop_update_rate_hz, _params.d_term_cutoff_freq);
_lp_filters_d[0].reset(_rates_prev(0));
_lp_filters_d[1].reset(_rates_prev(1));
_lp_filters_d[2].reset(_rates_prev(2));
if (fabsf(_lp_filters_d[0].get_cutoff_freq() - _params.d_term_cutoff_freq) > 0.01f) {
_lp_filters_d[0].set_cutoff_frequency(_loop_update_rate_hz, _params.d_term_cutoff_freq);
_lp_filters_d[1].set_cutoff_frequency(_loop_update_rate_hz, _params.d_term_cutoff_freq);
_lp_filters_d[2].set_cutoff_frequency(_loop_update_rate_hz, _params.d_term_cutoff_freq);
_lp_filters_d[0].reset(_rates_prev(0));
_lp_filters_d[1].reset(_rates_prev(1));
_lp_filters_d[2].reset(_rates_prev(2));
}
param_get(_params_handles.tpa_breakpoint_p, &_params.tpa_breakpoint_p);
param_get(_params_handles.tpa_breakpoint_i, &_params.tpa_breakpoint_i);