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Tracker: Changed yaw slew margin

This commit is contained in:
stefanlynka 2016-06-30 17:00:57 +09:00 committed by Randy Mackay
parent b6f58bdd98
commit 18e51da12d
1 changed files with 1 additions and 1 deletions
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2
AntennaTracker/servos.cpp
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@ -180,7 +180,7 @@ void Tracker::update_yaw_position_servo(float yaw)
int32_t ahrs_yaw_cd = wrap_180_cd(ahrs.yaw_sensor); int32_t ahrs_yaw_cd = wrap_180_cd(ahrs.yaw_sensor);
int32_t yaw_cd = wrap_180_cd(yaw*100); int32_t yaw_cd = wrap_180_cd(yaw*100);
int32_t yaw_limit_cd = g.yaw_range*100/2; int32_t yaw_limit_cd = g.yaw_range*100/2;
const int16_t margin = 500; // 5 degrees slop const int16_t margin = max(500, wrap_360_cd(36000-yaw_limit_cd)/2);
// Antenna as Ballerina. Use with antenna that do not have continuously rotating servos, ie at some point in rotation // Antenna as Ballerina. Use with antenna that do not have continuously rotating servos, ie at some point in rotation
// the servo limits are reached and the servo has to slew 360 degrees to the 'other side' to keep tracking. // the servo limits are reached and the servo has to slew 360 degrees to the 'other side' to keep tracking.