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APM_Control: change LIM_ROLL_CD to ROLL_LIMIT_DEG

This commit is contained in:
Andrew Tridgell 2024-01-19 12:58:28 +11:00
parent badf8fabdd
commit 0430923639
2 changed files with 2 additions and 2 deletions
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2
libraries/APM_Control/AP_AutoTune.cpp
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@ -208,7 +208,7 @@ void AP_AutoTune::update(AP_PIDInfo &pinfo, float scaler, float angle_err_deg)
float att_limit_deg = 0;
switch (type) {
case AUTOTUNE_ROLL:
att_limit_deg = aparm.roll_limit_cd * 0.01;
att_limit_deg = aparm.roll_limit;
break;
case AUTOTUNE_PITCH:
att_limit_deg = MIN(abs(aparm.pitch_limit_max*100),abs(aparm.pitch_limit_min*100))*0.01;

2
libraries/APM_Control/AP_PitchController.cpp
View File

@ -361,7 +361,7 @@ float AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool di
if (roll_wrapped > 9000) {
roll_wrapped = 18000 - roll_wrapped;
}
const float roll_limit_margin = MIN(aparm.roll_limit_cd + 500.0, 8500.0);
const float roll_limit_margin = MIN(aparm.roll_limit*100 + 500.0, 8500.0);
if (roll_wrapped > roll_limit_margin && labs(_ahrs.pitch_sensor) < 7000) {
float roll_prop = (roll_wrapped - roll_limit_margin) / (float)(9000 - roll_limit_margin);
desired_rate *= (1 - roll_prop);