copter: flowhold: move to constant dt filter and provide dt in runtim…

…e cutoff frequency update
cuav · Aug 19, 2024 · e97569d · e97569d
1 parent 8929773
commit e97569d
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -978,7 +978,7 @@ class ModeFlowHold : public Mode {
     // calculate attitude from flow data
     void flow_to_angle(Vector2f &bf_angle);
 
-    LowPassFilterVector2f flow_filter;
+    LowPassFilterConstDtVector2f flow_filter;
 
     bool flowhold_init(bool ignore_checks);
     void flowhold_run();

diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
@@ -240,7 +240,7 @@ void ModeFlowHold::run()
 
     // check for filter change
     if (!is_equal(flow_filter.get_cutoff_freq(), flow_filter_hz.get())) {
-        flow_filter.set_cutoff_frequency(flow_filter_hz.get());
+        flow_filter.set_cutoff_frequency(copter.scheduler.get_loop_rate_hz(), flow_filter_hz.get());
     }
 
     // get pilot desired climb rate