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AC_AutoTune: level criteria is 5deg for plane and 2.5 for all others

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This commit is contained in:
Randy Mackay 2021-02-01 10:07:12 +09:00
parent 2e9b2fbc2b
commit 4032ac9884
1 changed files with 7 additions and 2 deletions
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9
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -43,8 +43,13 @@
#define AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS 500 // restart tuning if pilot has left sticks in middle for 2 seconds
#define AUTOTUNE_TESTING_STEP_TIMEOUT_MS 1000U // timeout for tuning mode's testing step
#define AUTOTUNE_LEVEL_ANGLE_CD 500 // angle which qualifies as level
#define AUTOTUNE_LEVEL_RATE_RP_CD 1000 // rate which qualifies as level for roll and pitch
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
# define AUTOTUNE_LEVEL_ANGLE_CD 500 // angle which qualifies as level (Plane uses more relaxed 5deg)
# define AUTOTUNE_LEVEL_RATE_RP_CD 1000 // rate which qualifies as level for roll and pitch (Plane uses more relaxed 10deg/sec)
#else
# define AUTOTUNE_LEVEL_ANGLE_CD 250 // angle which qualifies as level
# define AUTOTUNE_LEVEL_RATE_RP_CD 500 // rate which qualifies as level for roll and pitch
#endif
#define AUTOTUNE_LEVEL_RATE_Y_CD 750 // rate which qualifies as level for yaw
#define AUTOTUNE_REQUIRED_LEVEL_TIME_MS 500 // time we require the aircraft to be level
#define AUTOTUNE_LEVEL_TIMEOUT_MS 2000 // time out for level