From 2acd431fcbb2cc8c03213431d2f2259a0a54c358 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 26 Mar 2018 13:01:41 +0100
Subject: [PATCH] mc_att_control: revert to tested cutoff frequency

Revert the disabled d term filter which needs to be enabled
after reducing IMU filtering and was probably unintentionally
during a rebase.
---
 src/modules/mc_att_control/mc_att_control_params.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c
index 08f6d9f423..0b0ed06ef2 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -542,7 +542,7 @@ PARAM_DEFINE_FLOAT(MC_TPA_RATE_D, 0.0f);
  * @increment 10
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 0.f);
+PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 30.f);
 
 /**
  * Multicopter air-mode
-- 
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