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revert more compact initialisation code due to SITL error otherwise

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This commit is contained in:
ctzsnooze 2024-11-29 21:51:16 +11:00
parent db7a04972c
commit d837b5087d
1 changed files with 8 additions and 1 deletions
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9
src/main/flight/autopilot.c
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@ -148,7 +148,14 @@ void autopilotInit(void)
positionPidCoeffs.Kd = cfg->position_D * POSITION_D_SCALE; positionPidCoeffs.Kd = cfg->position_D * POSITION_D_SCALE;
positionPidCoeffs.Kf = cfg->position_A * POSITION_A_SCALE; // Kf used for acceleration 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. // initialise filters with approximate filter gains; location isn't used at this point.
resetPositionControl(&gpsSol.llh, 100); 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);
}
} }
void resetAltitudeControl (void) { void resetAltitudeControl (void) {