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fix(mc_pos_control): handle rejected velocity filter cutoffs [1.18] #28534

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Merged
dakejahl merged 1 commit into from
Sep 4, 2026
+8 −14
Merged

fix(mc_pos_control): handle rejected velocity filter cutoffs [1.18] #28534

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22 changes: 8 additions & 14 deletions src/modules/mc_pos_control/MulticopterPositionControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,24 +95,18 @@ void MulticopterPositionControl::parameters_update(bool force)
_vel_z_notch_filter.disable();
}

// velocity xy/z low pass filter
if (_param_mpc_vel_lp.get() > 0.f) {
_vel_xy_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_vel_lp.get());
_vel_z_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_vel_lp.get());

} else {
// disable filtering
// velocity xy/z low pass filter, unfiltered when the cutoff is not achievable
if (!((_param_mpc_vel_lp.get() > 0.f)
&& _vel_xy_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_vel_lp.get())
&& _vel_z_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_vel_lp.get()))) {
_vel_xy_lp_filter.setAlpha(1.f);
_vel_z_lp_filter.setAlpha(1.f);
}

// velocity derivative xy/z low pass filter
if (_param_mpc_veld_lp.get() > 0.f) {
_vel_deriv_xy_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_veld_lp.get());
_vel_deriv_z_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_veld_lp.get());

} else {
// disable filtering
// velocity derivative xy/z low pass filter, unfiltered when the cutoff is not achievable
if (!((_param_mpc_veld_lp.get() > 0.f)
&& _vel_deriv_xy_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_veld_lp.get())
&& _vel_deriv_z_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_veld_lp.get()))) {
_vel_deriv_xy_lp_filter.setAlpha(1.f);
_vel_deriv_z_lp_filter.setAlpha(1.f);
}
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