Copter: AC_CustomControl: RP_FILT_HZ to RPY_FILT_HZ

ArduPilot · Feb 23, 2024 · a32cac3 · a32cac3
1 parent 0db1e60
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/libraries/AC_CustomControl/AC_CustomControl_PID.cpp b/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
@@ -321,9 +321,9 @@ AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_V
     _p_angle_roll2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_pitch2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_yaw2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
-    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f),
-    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f),
-    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f)
+    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f),
+    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f),
+    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f)
 {
     _dt = dt;
     AP_Param::setup_object_defaults(this, var_info);

diff --git a/libraries/AC_CustomControl/README.md b/libraries/AC_CustomControl/README.md
@@ -243,9 +243,9 @@ AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl &frontend, AP_AHRS_V
     _p_angle_roll2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_pitch2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_yaw2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
-    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, dt),
-    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, dt),
-    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f, dt)
+    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, dt),
+    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, dt),
+    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f, dt)
 {
     AP_Param::setup_object_defaults(this, var_info);
 }