filter blade pitch angle for gain scheduling

src/Controllers.f90

@@ -50,6 +50,7 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar)
         REAL(C_FLOAT), INTENT(INOUT)    :: avrSWAP(*)   ! The swap array, used to pass data to, and receive data from the DLL controller.
         INTEGER(4)                      :: K            ! Index used for looping through blades.
         REAL(8), Save                :: PitComT_Last 
+        REAL(8), Save                :: PC_PitComT_F
 
         ! ------- Blade Pitch Controller --------
         ! Load PC State
@@ -59,11 +60,13 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar)
             LocalVar%PC_MaxPit = CntrPar%PC_FinePit
         END IF
 
+        PC_PitComT_F = LPFilter(LocalVar%PC_PitComT, LocalVar%DT, CntrPar%F_LPFCornerFreq, LocalVar%iStatus, .FALSE., objInst%instLPF)
+
         ! Compute (interpolate) the gains based on previously commanded blade pitch angles and lookup table:
-        LocalVar%PC_KP = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KP, LocalVar%PC_PitComT) ! Proportional gain
-        LocalVar%PC_KI = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KI, LocalVar%PC_PitComT) ! Integral gain
-        LocalVar%PC_KD = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KD, LocalVar%PC_PitComT) ! Derivative gain
-        LocalVar%PC_TF = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_TF, LocalVar%PC_PitComT) ! TF gains (derivative filter) !NJA - need to clarify
+        LocalVar%PC_KP = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KP, PC_PitComT_F) ! Proportional gain
+        LocalVar%PC_KI = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KI, PC_PitComT_F) ! Integral gain
+        LocalVar%PC_KD = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KD, PC_PitComT_F) ! Derivative gain
+        LocalVar%PC_TF = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_TF, PC_PitComT_F) ! TF gains (derivative filter) !NJA - need to clarify
 
         ! Compute the collective pitch command associated with the proportional and integral gains:
         IF (LocalVar%iStatus == 0) THEN