From 2acd431fcbb2cc8c03213431d2f2259a0a54c358 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 26 Mar 2018 13:01:41 +0100 Subject: [PATCH] mc_att_control: revert to tested cutoff frequency Revert the disabled d term filter which needs to be enabled after reducing IMU filtering and was probably unintentionally during a rebase. --- src/modules/mc_att_control/mc_att_control_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 08f6d9f423..0b0ed06ef2 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -542,7 +542,7 @@ PARAM_DEFINE_FLOAT(MC_TPA_RATE_D, 0.0f); * @increment 10 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 0.f); +PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 30.f); /** * Multicopter air-mode