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mc_rate_control: use vehicle_angular_acceleration topic instead of differentiating

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* mc_rate_control: use vehicle_angular_acceleration topic
* IMU_DGYRO_CUTOFF change default to 30 Hz
* improve IMU_DGYRO_CUTOFF param documentation (updated from MC_DTERM_CUTOFF)
This commit is contained in:
Daniel Agar
2020-03-12 15:07:03 -04:00
committed by GitHub
parent 2b03aa3d1b
commit 093e9ba1ce
19 changed files with 56 additions and 105 deletions
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ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+2 -2
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@@ -60,7 +60,7 @@ then
param set RC_FLT_CUTOFF 0.00000
# Filter settings
param set MC_DTERM_CUTOFF 90.00000
param set IMU_DGYRO_CUTOFF 90.00000
param set IMU_GYRO_CUTOFF 100.00000
# Thrust curve (avoids the need for TPA)
@@ -106,7 +106,7 @@ then
# Filter settings
param set IMU_GYRO_CUTOFF 90.00000
param set MC_DTERM_CUTOFF 70.00000
param set IMU_DGYRO_CUTOFF 70.00000
# Don't try to be intelligent on RC loss: just cut the motors
param set NAV_RCL_ACT 6