[Paparazzi-devel] For Horizontal Filter users

[Walid Achour]

Hi everyone,

If you use Horizontal Filter, the ACCEL_Noise tunning, in your airframes (paparazzi/conf/airframes), is not tacking into account because we have  B2_HFF prefix and not HFF prefix. In hf_float.c (ins sybsystem), we have always HFF_ACCEL_NOISE=0.5

For exemple, for this config., HFF_ACCEL_NOISE=20. is not tacking into account:

paparazzi/conf/airframes:

<section name="HORIZONTAL_FILTER" prefix="B2_HFF_">
    <define name="ACCEL_NOISE"  value="20."/>
    <define name="R_POS"        value="8."/>
    <define name="R_POS_MIN"    value="3."/>
    <define name="R_SPEED"      value="2."/>
    <define name="R_SPEED_MIN"  value="1."/>
  </section>

In hf_float.c:

#ifndef HFF_ACCEL_NOISE
#define HFF_ACCEL_NOISE 0.5
#endif


Good Flight

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