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add note about PT1 gain on PT2 filters

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This commit is contained in:
ctzsnooze 2024-10-26 19:56:22 +11:00
parent 42597c8339
commit 7f9e69420a
1 changed files with 3 additions and 2 deletions
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5
src/main/flight/autopilot.c
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@ -244,6 +244,7 @@ bool positionControl(void) {
} }
} }
posHold.previousDistanceCm = posHold.distanceCm; posHold.previousDistanceCm = posHold.distanceCm;
// intentionally using PT1 gain in PT2 filters to provide a lower effective cutoff
float pt1Gain = pt1FilterGain(posHold.lpfCutoff, posHold.gpsDataIntervalS); float pt1Gain = pt1FilterGain(posHold.lpfCutoff, posHold.gpsDataIntervalS);
// ** Sanity check ** // ** Sanity check **
@ -317,11 +318,11 @@ bool positionControl(void) {
ewD = pt1FilterApply(&velocityEWLpf, ewD); ewD = pt1FilterApply(&velocityEWLpf, ewD);
float nsA = accelerationNS * positionPidCoeffs.Kf; float nsA = accelerationNS * positionPidCoeffs.Kf;
pt2FilterUpdateCutoff(&accelerationRollLpf, pt1Gain); pt2FilterUpdateCutoff(&accelerationRollLpf, pt1Gain); // using PT1 gain for stronger cutoff
nsA = pt2FilterApply(&accelerationRollLpf, nsA); nsA = pt2FilterApply(&accelerationRollLpf, nsA);
float ewA = accelerationEW * positionPidCoeffs.Kf; float ewA = accelerationEW * positionPidCoeffs.Kf;
pt2FilterUpdateCutoff(&accelerationPitchLpf, pt1Gain); pt2FilterUpdateCutoff(&accelerationPitchLpf, pt1Gain); // using PT1 gain for stronger cutoff
ewA = pt2FilterApply(&accelerationPitchLpf, ewA); ewA = pt2FilterApply(&accelerationPitchLpf, ewA);
// limit sum of D and A because otherwise can be too aggressive when starting at speed // limit sum of D and A because otherwise can be too aggressive when starting at speed