Copter: provide more options around attitude rates

ArduPilot · Jun 6, 2024 · 1e7d0af · 1e7d0af
1 parent f0efd09
commit 1e7d0af
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Showing 3 changed files with 15 additions and 7 deletions.
diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
@@ -40,8 +40,14 @@ void Copter::rate_controller_thread()
     uint32_t last_timing_msg_us = 0;
 #endif
 
-    uint8_t filter_rate_decimate = uint8_t((ins.get_raw_gyro_rate_hz() + copter.g2.att_filter_rate_hz - 1) / copter.g2.att_filter_rate_hz);
-    uint8_t log_rate_decimate = uint8_t((ins.get_raw_gyro_rate_hz() + copter.g2.att_log_rate_hz - 1) / copter.g2.att_log_rate_hz);
+    uint8_t filter_rate_decimate = 2;
+    if (copter.g2.att_filter_rate_hz != 0) {
+        filter_rate_decimate = uint8_t((ins.get_raw_gyro_rate_hz() + copter.g2.att_filter_rate_hz - 1) / copter.g2.att_filter_rate_hz);
+    }
+    uint8_t log_rate_decimate = 0;
+    if (copter.g2.att_log_rate_hz != 0) {
+        log_rate_decimate = uint8_t((ins.get_raw_gyro_rate_hz() + copter.g2.att_log_rate_hz - 1) / copter.g2.att_log_rate_hz);
+    }
     uint8_t filter_loop_count = 0;
     uint8_t log_loop_count = 0;
 
@@ -143,7 +149,7 @@ void Copter::rate_controller_thread()
         }
 
         // fast logging output
-        if (log_loop_count++ >= log_rate_decimate) {
+        if (log_rate_decimate > 0 && log_loop_count++ >= log_rate_decimate) {
             log_loop_count = 0;
 #if HAL_LOGGING_ENABLED
             fast_logging();

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -522,9 +522,11 @@ void Copter::update_batt_compass(void)
 // should be run at loop rate
 void Copter::loop_rate_logging()
 {
-    if (using_rate_thread) {
+#if AP_INERTIALSENSOR_RATE_LOOP_WINDOW_ENABLED
+    if (using_rate_thread && copter.g2.att_log_rate_hz != 0) {
         return;
     }
+#endif
 
     fast_logging();
 }

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -1231,16 +1231,16 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
 #if AP_INERTIALSENSOR_RATE_LOOP_WINDOW_ENABLED
     // @Param: ATT_FILTER_RATE
     // @DisplayName: Rate thread notch update rate
-    // @Description: The rate of rate thread filter updates in Hz. The actual rate is constrained to be a whole divisor of the gyro rate and thus cannot be larger than the gyro rate.
+    // @Description: The rate of rate thread filter updates in Hz. The actual rate is constrained to be a whole divisor of the gyro rate and thus cannot be larger than the gyro rate. A value of 0 will utilize a rate of half the attitude update rate (usually the gyro rate).
     // @Range: 400 8000
     // @Increment: 1
     // @User: Advanced
     // @RebootRequired: True
-    AP_GROUPINFO("ATT_FILTER_RATE", 9, ParametersG2, att_filter_rate_hz, 1000),
+    AP_GROUPINFO("ATT_FILTER_RATE", 9, ParametersG2, att_filter_rate_hz, 0),
 
     // @Param: ATT_LOG_RATE
     // @DisplayName: Rate thread fast logging rate
-    // @Description: The rate of rate thread fast logging in Hz. The actual rate is constrained to be a whole divisor of the gyro rate and thus cannot be larger than the gyro rate.
+    // @Description: The rate of rate thread fast logging in Hz. The actual rate is constrained to be a whole divisor of the gyro rate and thus cannot be larger than the gyro rate. A value of 0 will utilize a rate equivalent to the main loop rate.
     // @Range: 400 8000
     // @Increment: 1
     // @User: Advanced