fix(mc_pos_control): handle rejected velocity filter cutoffs [1.18] - #28534
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fix(mc_pos_control): handle rejected velocity filter cutoffs [1.18]#28534Saibernard wants to merge 1 commit into
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…rejected (PX4#28451) setCutoffFreq refuses a cutoff at or above half the sample rate and leaves the filter untouched, but all four velocity filter calls ignored the return. With the filters at their initial alpha of zero this froze the velocity feedback at zero, and the condition is reachable from a permitted parameter value, MPC_VEL_LP allows up to 50 Hz while the position loop commonly runs at 100 Hz or less. In SIH a hover with MPC_VEL_LP=50 oscillates half a metre in altitude with vertical speed peaks near 1 m/s, and holds 2.5 m within centimetres with this change. Follow the pattern VehicleAngularVelocity already uses, check the return and bypass the low pass stage when the requested cutoff is not achievable. One deliberate behaviour change comes with that, a runtime parameter change from a valid to an unachievable cutoff now bypasses the stage instead of keeping the stale previous configuration. Assisted-by: Claude:claude-fable-5 Signed-off-by: Saibernard Yogendran <bernie97@seas.upenn.edu> (cherry picked from commit 71f8b37)
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Sep 4, 2026
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🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: 48 byte (0 %)]px4_fmu-v6x [Total VM Diff: 40 byte (0 %)]Updated: 2026-09-04T01:36:40 |
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Backport of #28451 to
release/1.18, the same commit as on main.A rejected filter cutoff was silently accepted and degraded altitude hold on multicopters.