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atune: initialize filter if not already initialized

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bresch
2023-11-16 23:14:17 -05:00
committed by Daniel Agar
parent 62027b0965
commit 2110eae25d
2 changed files with 2 additions and 2 deletions
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src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
+1 -1
View File
@@ -229,7 +229,7 @@ void FwAutotuneAttitudeControl::checkFilters()
reset_filters = true; reset_filters = true;
} }
if (reset_filters) { if (reset_filters || !_are_filters_initialized) {
_are_filters_initialized = true; _are_filters_initialized = true;
_filter_sample_rate = update_rate_hz; _filter_sample_rate = update_rate_hz;
_sys_id.setLpfCutoffFrequency(_filter_sample_rate, _param_imu_gyro_cutoff.get()); _sys_id.setLpfCutoffFrequency(_filter_sample_rate, _param_imu_gyro_cutoff.get());
src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp
+1 -1
View File
@@ -236,7 +236,7 @@ void McAutotuneAttitudeControl::checkFilters()
reset_filters = true; reset_filters = true;
} }
if (reset_filters && !_are_filters_initialized) { if (reset_filters || !_are_filters_initialized) {
_filter_dt = _sample_interval_avg; _filter_dt = _sample_interval_avg;
const float filter_rate_hz = 1.f / _filter_dt; const float filter_rate_hz = 1.f / _filter_dt;