Copter: multicopter ATC_RAT_RLL/PIT_FILT copied to FLTD and FLTT

ArduCopter/Parameters.cpp

@@ -1233,7 +1233,8 @@ void Copter::convert_pid_parameters(void)
     AP_Param::set_defaults_from_table(heli_defaults_table, ARRAY_SIZE(heli_defaults_table));
 #endif
 
-    // attitude control filter parameter changes (from _FILT to FLTE or FLTD) for Copter-3.7
+    // attitude control filter parameter changes (from _FILT to FLTD, FLTE, FLTT) for Copter-4.0
+    // magic numbers shown below are discovered by setting AP_PARAM_KEY_DUMP = 1
     const AP_Param::ConversionInfo ff_and_filt_conversion_info[] = {
 #if FRAME_CONFIG == HELI_FRAME
         // tradheli moves ATC_RAT_RLL/PIT_FILT to FLTE, ATC_RAT_YAW_FILT to FLTE
@@ -1241,9 +1242,11 @@ void Copter::convert_pid_parameters(void)
         { Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTE" },
         { Parameters::k_param_attitude_control, 388, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" },
 #else
-        // multicopters move ATC_RAT_RLL/PIT_FILT to FLTD, ATC_RAT_YAW_FILT to FLTE
+        // multicopters move ATC_RAT_RLL/PIT_FILT to FLTD & FLTT, ATC_RAT_YAW_FILT to FLTE
         { Parameters::k_param_attitude_control, 385, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTD" },
+        { Parameters::k_param_attitude_control, 385, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTT" },
         { Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTD" },
+        { Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTT" },
         { Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" },
         { Parameters::k_param_attitude_control, 449, AP_PARAM_FLOAT, "ATC_RAT_RLL_FF" },
         { Parameters::k_param_attitude_control, 450, AP_PARAM_FLOAT, "ATC_RAT_PIT_FF" },