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Copter:Parameters-TradHeli - set defaults for PSC and LOIT controllers

This commit is contained in:
ChristopherOlson 2018-11-25 22:15:06 -06:00 committed by Randy Mackay
parent ba3a369651
commit 2e98de3292
1 changed files with 16 additions and 1 deletions
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17
ArduCopter/Parameters.cpp
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@ -1087,7 +1087,7 @@ void Copter::load_parameters(void)
// setup AP_Param frame type flags
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
}
// handle conversion of PID gains from Copter-3.3 to Copter-3.4
@ -1194,6 +1194,21 @@ void Copter::convert_pid_parameters(void)
AP_Param::convert_old_parameter(&loiter_conversion_info[i], 1.0f);
}
// TradHeli default parameters
#if FRAME_CONFIG == HELI_FRAME
AP_Param::set_default_by_name("LOIT_ACC_MAX", 500.0f);
AP_Param::set_default_by_name("LOIT_BRK_ACCEL", 125.0f);
AP_Param::set_default_by_name("LOIT_BRK_DELAY", 1.0f);
AP_Param::set_default_by_name("LOIT_BRK_JERK", 250.0f);
AP_Param::set_default_by_name("LOIT_SPEED", 3000.0f);
AP_Param::set_default_by_name("PHLD_BRAKE_ANGLE", 800.0f);
AP_Param::set_default_by_name("PHLD_BRAKE_RATE", 4.0f);
AP_Param::set_default_by_name("PSC_ACCZ_P", 0.28f);
AP_Param::set_default_by_name("PSC_VELXY_D", 0.0f);
AP_Param::set_default_by_name("PSC_VELXY_I", 0.5f);
AP_Param::set_default_by_name("PSC_VELXY_P", 1.0f);
#endif
const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old, Parameters::k_param_rc_2_old,
Parameters::k_param_rc_3_old, Parameters::k_param_rc_4_old,
Parameters::k_param_rc_5_old, Parameters::k_param_rc_6_old,