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null location option from PL

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This commit is contained in:
ctzsnooze 2024-11-30 11:29:24 +11:00
parent 6930d97104
commit ad40e979bd
1 changed files with 2 additions and 8 deletions
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10
src/main/flight/autopilot.c
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@ -147,15 +147,9 @@ void autopilotInit(void)
positionPidCoeffs.Ki = cfg->position_I * POSITION_I_SCALE;
positionPidCoeffs.Kd = cfg->position_D * POSITION_D_SCALE;
positionPidCoeffs.Kf = cfg->position_A * POSITION_A_SCALE; // Kf used for acceleration
// initialise filters with approximate filter gains; location isn't used at this point.
ap.upsampleLpfGain = pt3FilterGain(UPSAMPLING_CUTOFF_HZ, 0.01f); // 5Hz, assuming 100Hz task rate at init
resetUpsampleFilters();
// Initialise PT1 filters for deivative and acceleration in earth frame axes
ap.vaLpfCutoff = cfg->position_cutoff * 0.01f;
const float vaGain = pt1FilterGain(ap.vaLpfCutoff, 0.1f); // assume 10Hz GPS connection at start; value is overwritten before first filter use
for (unsigned i = 0; i < ARRAYLEN(ap.efAxis); i++) {
resetEFAxisFilters(&ap.efAxis[i], vaGain);
}
gpsLocation_t nullLocation = { 0 };
resetPositionControl(&nullLocation, 100 /*Hz*/);
}
void resetAltitudeControl (void) {