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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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src/modules/logger/logged_topics.cpp
+2
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@@ -122,6 +122,7 @@ void LoggedTopics::add_default_topics()
add_topic("fw_virtual_attitude_setpoint");
add_topic("mc_virtual_attitude_setpoint");
add_topic("time_offset");
add_topic("vehicle_angular_acceleration", 10);
add_topic("vehicle_angular_velocity", 10);
add_topic("vehicle_attitude_groundtruth", 10);
add_topic("vehicle_global_position_groundtruth", 100);
@@ -137,6 +138,7 @@ void LoggedTopics::add_high_rate_topics()
add_topic("manual_control_setpoint");
add_topic("rate_ctrl_status", 20);
add_topic("sensor_combined");
add_topic("vehicle_angular_acceleration");
add_topic("vehicle_angular_velocity");
add_topic("vehicle_attitude");
add_topic("vehicle_attitude_setpoint");