Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane:Tailsitter: add relaxed POSXY defaults

This commit is contained in:
Hwurzburg 2021-09-02 15:59:03 -05:00 committed by Andrew Tridgell
parent 221e7c612e
commit 01c41dc213
1 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduPlane/tailsitter.cpp
View File

@ -152,6 +152,13 @@ static const struct AP_Param::defaults_table_struct defaults_table_tailsitter[]
{ "RUDD_DT_GAIN", 10 },
{ "Q_TRANSITION_MS", 2000 },
{ "Q_TRANS_DECEL", 6 },
{ "Q_A_ACCEL_P_MAX", 30000},
{ "Q_A_ACCEL_R_MAX", 30000},
{ "Q_P_POSXY_P", 0.5},
{ "Q_P_VELXY_P", 1.0},
{ "Q_P_VELXY_I", 0.5},
{ "Q_P_VELXY_D", 0.25},
};
Tailsitter::Tailsitter(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors):quadplane(_quadplane),motors(_motors)