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MC attitude control move to Vector3f LPF

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This commit is contained in:
Daniel Agar
2018-10-20 10:34:02 -04:00
parent ac85230700
commit efac6f2807
2 changed files with 8 additions and 21 deletions
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src/modules/mc_att_control/mc_att_control.hpp
+2 -2
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@@ -32,7 +32,7 @@
****************************************************************************/
#include <lib/mixer/mixer.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
#include <matrix/matrix/math.hpp>
#include <perf/perf_counter.h>
#include <px4_config.h>
@@ -169,7 +169,7 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */
math::LowPassFilter2p _lp_filters_d[3]; /**< low-pass filters for D-term (roll, pitch & yaw) */
math::LowPassFilter2pVector3f _lp_filters_d{initial_update_rate_hz, 50.f}; /**< low-pass filters for D-term (roll, pitch & yaw) */
static constexpr const float initial_update_rate_hz = 250.f; /**< loop update rate used for initialization */
float _loop_update_rate_hz{initial_update_rate_hz}; /**< current rate-controller loop update rate in [Hz] */