From 8d9e9d3a7ba1c7b3bb5d79d95c90f6a351d552c6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 19 Feb 2018 14:13:32 +0100 Subject: [PATCH] RC input: allow disabling the RC filtering via RC_FLT_CUTOFF The default value of 10 Hz adds noticeable lag. --- src/modules/sensors/parameters.cpp | 2 +- src/modules/sensors/rc_params.c | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/sensors/parameters.cpp b/src/modules/sensors/parameters.cpp index a76dc216d1..cd7261b72a 100644 --- a/src/modules/sensors/parameters.cpp +++ b/src/modules/sensors/parameters.cpp @@ -368,7 +368,7 @@ int update_parameters(const ParameterHandles ¶meter_handles, Parameters &par parameters.rc_flt_smp_rate = math::max(1.0f, parameters.rc_flt_smp_rate); param_get(parameter_handles.rc_flt_cutoff, &(parameters.rc_flt_cutoff)); /* make sure the filter is in its stable region -> fc < fs/2 */ - parameters.rc_flt_cutoff = math::constrain(parameters.rc_flt_cutoff, 0.1f, (parameters.rc_flt_smp_rate / 2) - 1.f); + parameters.rc_flt_cutoff = math::min(parameters.rc_flt_cutoff, (parameters.rc_flt_smp_rate / 2) - 1.f); /* Airspeed offset */ param_get(parameter_handles.diff_pres_offset_pa, &(parameters.diff_pres_offset_pa)); diff --git a/src/modules/sensors/rc_params.c b/src/modules/sensors/rc_params.c index 575378c675..c045b53719 100644 --- a/src/modules/sensors/rc_params.c +++ b/src/modules/sensors/rc_params.c @@ -2214,8 +2214,9 @@ PARAM_DEFINE_FLOAT(RC_FLT_SMP_RATE, 50.0f); * Cutoff frequency for the low pass filter on roll, pitch, yaw and throttle * * Does not get set unless below RC_FLT_SMP_RATE/2 because of filter instability characteristics. + * Set to 0 to disable the filter. * - * @min 0.1 + * @min 0 * @unit Hz * @group Radio Calibration */