From d991285406fad2d4b39ecdbd2337b0fb773ed16a Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Fri, 27 Jan 2017 10:25:09 +0100
Subject: [PATCH] sensors: rc filter: added sample rate of 33.3Hz and lowpass
 cutoff 5Hz hardcoded for testing

---
 src/modules/sensors/rc_update.cpp | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/src/modules/sensors/rc_update.cpp b/src/modules/sensors/rc_update.cpp
index bf14ea7e55..fffc8ffa88 100644
--- a/src/modules/sensors/rc_update.cpp
+++ b/src/modules/sensors/rc_update.cpp
@@ -47,14 +47,17 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/manual_control_setpoint.h>
 
+#define RC_SAMPLING_RATE 33.3f
+#define RC_FILTER_LP_CUTOFF 5.0f
+
 using namespace sensors;
 
 RCUpdate::RCUpdate(const Parameters &parameters)
 	: _parameters(parameters),
-	  _filter_roll(0, 0),
-	  _filter_pitch(0, 0),
-	  _filter_yaw(0, 0),
-	  _filter_throttle(0, 0)
+	  _filter_roll(RC_SAMPLING_RATE, RC_FILTER_LP_CUTOFF),
+	  _filter_pitch(RC_SAMPLING_RATE, RC_FILTER_LP_CUTOFF),
+	  _filter_yaw(RC_SAMPLING_RATE, RC_FILTER_LP_CUTOFF),
+	  _filter_throttle(RC_SAMPLING_RATE, RC_FILTER_LP_CUTOFF)
 {
 	memset(&_rc, 0, sizeof(_rc));
 	memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map));