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AC_AttitudeControl: tradheli-change param name from _VFF to _FF

gps-1.3.1
Bill Geyer 3 years ago committed by Randy Mackay
parent
b1d6e41fb9
commit
a2c1c809b2
2 changed files with 5 additions and 5 deletions
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  1. 6
      libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
  2. 4
      libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h

6
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -49,7 +49,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = { @@ -49,7 +49,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @Increment: 0.001
// @User: Standard
// @Param: RAT_RLL_VFF
// @Param: RAT_RLL_FF
// @DisplayName: Roll axis rate controller feed forward
// @Description: Roll axis rate controller feed forward
// @Range: 0.05 0.5
@ -123,7 +123,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = { @@ -123,7 +123,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @Increment: 0.001
// @User: Standard
// @Param: RAT_PIT_VFF
// @Param: RAT_PIT_FF
// @DisplayName: Pitch axis rate controller feed forward
// @Description: Pitch axis rate controller feed forward
// @Range: 0.05 0.5
@ -197,7 +197,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = { @@ -197,7 +197,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @Increment: 0.001
// @User: Standard
// @Param: RAT_YAW_VFF
// @Param: RAT_YAW_FF
// @DisplayName: Yaw axis rate controller feed forward
// @Description: Yaw axis rate controller feed forward
// @Range: 0 0.5

4
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
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@ -25,7 +25,7 @@ @@ -25,7 +25,7 @@
#define AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX 0.95f // Heli's use 95% of max collective before limiting frame angle
#define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE 0.02f
#define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER 10.0f
#define AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER 10.0f
#define AC_ATTITUDE_HELI_RATE_Y_FF_FILTER 10.0f
#define AC_ATTITUDE_HELI_HOVER_ROLL_TRIM_DEFAULT 300
#define AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD ToRad(30.0f)
@ -38,7 +38,7 @@ public: @@ -38,7 +38,7 @@ public:
AC_AttitudeControl(ahrs, aparm, motors, dt),
_pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f, dt),
_pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f, dt),
_pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_FF, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER, AC_ATC_HELI_RATE_YAW_FILT_HZ, 0.0f, dt)
_pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_FF, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATTITUDE_HELI_RATE_Y_FF_FILTER, AC_ATC_HELI_RATE_YAW_FILT_HZ, 0.0f, dt)
{
AP_Param::setup_object_defaults(this, var_info);

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