Do not allow users to set throttle-based notch in Heli #28843
+19
−1
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
andyp1per
requested changes
Dec 11, 2024
| // We cannot use throttle based notch on helis | ||
| #define NOTCHFILTER_DEFAULT_MODE 0 // fixed | ||
| #else | ||
| #define NOTCHFILTER_DEFAULT_MODE 1 // throttle based |
There was a problem hiding this comment.
Think this should be int8_t(HarmonicNotchDynamicMode::UpdateThrottle) etc
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
My attempt at fixing issue: #28841
Throttle is not "Throttle" in AP_MotorsHeli, it is actually collective position. Therefore, throttle-based tracking does not make any sense for Heli.
This is a subtly that most users will not appreciate, therefore we should help users to not make this mistake by throwing a config error if selected.
Have also changed the default notch mode for heli.
Tested in SITL only. This is how it presents to the user upon miss-configuration: