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MC rate controller: add low-pass filter for D-term #8920

Merged
merged 6 commits into from
Feb 19, 2018
Merged

MC rate controller: add low-pass filter for D-term #8920

merged 6 commits into from
Feb 19, 2018

Commits on Feb 19, 2018

  1. MC_ROLL_P, MC_PITCH_P: increase maximum value to 12 

    - use the same value for both
- lower control latency allows increasing these gains
    @bkueng
    bkueng committed Feb 19, 2018
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  2. IMU_GYRO_CUTOFF, IMU_ACCEL_CUTOFF: reduce minimum to 0, allowing to d… 

    …isable filtering
    @bkueng
    bkueng committed Feb 19, 2018
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  3. mc_attitude_control: avoid using a static variable for last_run 

    and call hrt_absolute_time() only once.
    @bkueng
    bkueng committed Feb 19, 2018
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  4. mc_att_control rate controller: use a butterworth lowpass filter on t… 

    …he D-term

The filter is disabled by default, thus the behavior is unchanged.
    @bkueng
    bkueng committed Feb 19, 2018
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  5. mc_att_control_main: remove unused _rates_sp_prev

    @bkueng
    bkueng committed Feb 19, 2018
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  6. mc_att_control: update & reset d-term lowpass filter only when freque… 

    …ncy changes
    @bkueng
    bkueng committed Feb 19, 2018
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