From 1ec5eedd238408b89d10f3783df171da1b02d283 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Wed, 4 Mar 2015 12:48:28 +0900
Subject: [PATCH] Copter: ch6 tuning of yaw rate filter

---
 ArduCopter/defines.h  | 1 +
 ArduCopter/tuning.pde | 4 ++++
 2 files changed, 5 insertions(+)

diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index c276b4f24c..15a53c3313 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -153,6 +153,7 @@
 #define CH6_RATE_ROLL_FF                53  // body frame roll rate controller FF term
 #define CH6_RATE_YAW_FF                 54  // body frame yaw rate controller FF term
 #define CH6_RATE_MOT_YAW_HEADROOM       55  // motors yaw headroom minimum
+#define CH6_RATE_YAW_FILT               56  // yaw rate input filter
 
 // Acro Trainer types
 #define ACRO_TRAINER_DISABLED   0
diff --git a/ArduCopter/tuning.pde b/ArduCopter/tuning.pde
index a5d0d532fa..947cf5adb0 100644
--- a/ArduCopter/tuning.pde
+++ b/ArduCopter/tuning.pde
@@ -200,5 +200,9 @@ static void tuning() {
     case CH6_RATE_MOT_YAW_HEADROOM:
         motors.set_yaw_headroom(tuning_value*1000);
         break;
+
+     case CH6_RATE_YAW_FILT:
+         g.pid_rate_yaw.filt_hz(tuning_value);
+         break;
     }
 }