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

AC_AttitudeControl: increase SLEW_YAW default to 60deg/sec

This commit is contained in:
Leonard Hall 2016-06-24 16:22:44 +09:00 committed by Randy Mackay
parent e0eecd56b2
commit 117ae89505
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AC_AttitudeControl/AC_AttitudeControl.h
View File

@ -22,9 +22,9 @@
#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MAX_RADSS radians(720.0f) // maximum body-frame acceleration limit for the stability controller (for roll and pitch axis) #define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MAX_RADSS radians(720.0f) // maximum body-frame acceleration limit for the stability controller (for roll and pitch axis)
#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MIN_RADSS radians(10.0f) // minimum body-frame acceleration limit for the stability controller (for yaw axis) #define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MIN_RADSS radians(10.0f) // minimum body-frame acceleration limit for the stability controller (for yaw axis)
#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX_RADSS radians(360.0f) // maximum body-frame acceleration limit for the stability controller (for yaw axis) #define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX_RADSS radians(360.0f) // maximum body-frame acceleration limit for the stability controller (for yaw axis)
#define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT_CDS 1000 // constraint on yaw angle error in degrees. This should lead to maximum turn rate of 10deg/sed * Stab Rate P so by default will be 45deg/sec.
#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT_CDSS 110000.0f // default maximum acceleration for roll/pitch axis in centidegrees/sec/sec #define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT_CDSS 110000.0f // default maximum acceleration for roll/pitch axis in centidegrees/sec/sec
#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT_CDSS 27000.0f // default maximum acceleration for yaw axis in centidegrees/sec/sec #define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT_CDSS 27000.0f // default maximum acceleration for yaw axis in centidegrees/sec/sec
#define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT_CDS 6000 // constraint on yaw angle error in degrees. This should lead to maximum turn rate of 10deg/sed * Stab Rate P so by default will be 45deg/sec.
#define AC_ATTITUDE_RATE_CONTROLLER_TIMEOUT 1.0f // body-frame rate controller timeout in seconds #define AC_ATTITUDE_RATE_CONTROLLER_TIMEOUT 1.0f // body-frame rate controller timeout in seconds
#define AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX 1.0f // body-frame rate controller maximum output (for roll-pitch axis) #define AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX 1.0f // body-frame rate controller maximum output (for roll-pitch axis)