From ad40e979bd4af55270d7440e45914a6ca6108e8c Mon Sep 17 00:00:00 2001 From: ctzsnooze Date: Sat, 30 Nov 2024 11:29:24 +1100 Subject: [PATCH] null location option from PL --- src/main/flight/autopilot.c | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/src/main/flight/autopilot.c b/src/main/flight/autopilot.c index c15955f010..316c222ced 100644 --- a/src/main/flight/autopilot.c +++ b/src/main/flight/autopilot.c @@ -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) {