diff --git a/libraries/AP_WheelEncoder/AP_WheelRateControl.cpp b/libraries/AP_WheelEncoder/AP_WheelRateControl.cpp index 8c388d855c..8a1c3ce0a1 100644 --- a/libraries/AP_WheelEncoder/AP_WheelRateControl.cpp +++ b/libraries/AP_WheelEncoder/AP_WheelRateControl.cpp @@ -54,6 +54,30 @@ const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = { // @Range: 1.000 100.000 // @Units: Hz // @User: Standard + + // @Param: _RATE_FLTT + // @DisplayName: Wheel rate control target frequency in Hz + // @Description: Wheel rate control target frequency in Hz + // @Range: 1 50 + // @Increment: 1 + // @Units: Hz + // @User: Standard + + // @Param: _RATE_FLTE + // @DisplayName: Wheel rate control error frequency in Hz + // @Description: Wheel rate control error frequency in Hz + // @Range: 1 50 + // @Increment: 1 + // @Units: Hz + // @User: Standard + + // @Param: _RATE_FLTD + // @DisplayName: Wheel rate control derivative frequency in Hz + // @Description: Wheel rate control derivative frequency in Hz + // @Range: 1 50 + // @Increment: 1 + // @Units: Hz + // @User: Standard AP_SUBGROUPINFO(_rate_pid0, "_RATE_", 3, AP_WheelRateControl, AC_PID), // @Param: 2_RATE_FF @@ -92,6 +116,31 @@ const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = { // @Range: 1.000 100.000 // @Units: Hz // @User: Standard + + // @Param: 2_RATE_FLTT + // @DisplayName: Wheel rate control target frequency in Hz + // @Description: Wheel rate control target frequency in Hz + // @Range: 1 50 + // @Increment: 1 + // @Units: Hz + // @User: Standard + + // @Param: 2_RATE_FLTE + // @DisplayName: Wheel rate control error frequency in Hz + // @Description: Wheel rate control error frequency in Hz + // @Range: 1 50 + // @Increment: 1 + // @Units: Hz + // @User: Standard + + // @Param: 2_RATE_FLTD + // @DisplayName: Wheel rate control derivative frequency in Hz + // @Description: Wheel rate control derivative frequency in Hz + // @Range: 1 50 + // @Increment: 1 + // @Units: Hz + // @User: Standard + AP_SUBGROUPINFO(_rate_pid1, "2_RATE_", 4, AP_WheelRateControl, AC_PID), AP_GROUPEND