Copter: call update_dynamic_notch_at_specified_rate() in rate thread

ArduPilot · Feb 15, 2024 · 4d81a6e · 4d81a6e
1 parent a87fdc4
commit 4d81a6e
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
@@ -57,8 +57,16 @@ void Copter::rate_controller_thread()
         */
         attitude_control->rate_controller_run_dt(dt_avg);
 
+        /*
+          immediately output the new motor values
+         */
         motors_output();
 
+        /*
+          update the center frequencies of notch filters
+         */
+        update_dynamic_notch_at_specified_rate();
+
 #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
         // ensure we give at least some CPU to other threads
         // don't sleep on SITL where small sleeps are not possible