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AC_AttitudeControl: ensure yaw gets a FLTD default #26263

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merged 3 commits into from
Feb 23, 2024
Merged

AC_AttitudeControl: ensure yaw gets a FLTD default #26263

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0db1e60
AC_AttitudeControl: ensure yaw gets a FLTD default
andyp1per Feb 19, 2024
59e3b06
AC_CustomControl: RP_FILT_HZ to RPY_FILT_HZ
lthall Feb 23, 2024
aa2d638
Copter: AC_AttitudeControl: RP_FILT_HZ to RPY_FILT_HZ
lthall Feb 23, 2024
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2 changes: 1 addition & 1 deletion libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
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Original file line number Diff line number Diff line change
Expand Up @@ -137,7 +137,7 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
.imax = AC_ATC_MULTI_RATE_YAW_IMAX,
.filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
.filt_E_hz = AC_ATC_MULTI_RATE_YAW_FILT_HZ,
.filt_D_hz = 0.0f,
.filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
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Its a bit upsetting that its using RATE_RP (roll pitch) but filt T is the same....

In fact filt_E is useing AC_ATC_MULTI_RATE_YAW_FILT_HZ and filt_T_hz is using AC_ATC_MULTI_RATE_RP_FILT_HZ its all a bit odd....

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Yeh, I can see how this is a little confusing or unclear. What would you suggest?

The end result is we want roll, pitch and yaw filter T and D to be the same (20.0)
roll and pitch filter E to be 0.0
yaw filter E to be 2.0

There is an opportunity here to make this clear for the future.

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LOL, I originally did a bigger change that changed the names but figured this was better for 4.5 :-P

.srmax = 0,
.srtau = 1.0
}
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