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AC_AttControl: adjust default rate IMAX and Yaw Filt 

Increase Roll, Pitch and Yaw IMAX from 0.444 or 0.222 to 0.5
Decrease Yaw Filter from 5hz to 2.5hz based on the results of autotunes on many vehicles which always seems to produce values between 2 and 3hz
This commit is contained in:
Leonard Hall 2017-06-01 10:08:38 +09:00 committed by Randy Mackay
parent b43f23561f
commit 406a7739a6
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
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@ -17,7 +17,7 @@
# define AC_ATC_MULTI_RATE_RP_D 0.0036f # define AC_ATC_MULTI_RATE_RP_D 0.0036f
#endif #endif
#ifndef AC_ATC_MULTI_RATE_RP_IMAX #ifndef AC_ATC_MULTI_RATE_RP_IMAX
# define AC_ATC_MULTI_RATE_RP_IMAX 0.444f # define AC_ATC_MULTI_RATE_RP_IMAX 0.5f
#endif #endif
#ifndef AC_ATC_MULTI_RATE_RP_FILT_HZ #ifndef AC_ATC_MULTI_RATE_RP_FILT_HZ
# define AC_ATC_MULTI_RATE_RP_FILT_HZ 20.0f # define AC_ATC_MULTI_RATE_RP_FILT_HZ 20.0f
@ -32,10 +32,10 @@
# define AC_ATC_MULTI_RATE_YAW_D 0.0f # define AC_ATC_MULTI_RATE_YAW_D 0.0f
#endif #endif
#ifndef AC_ATC_MULTI_RATE_YAW_IMAX #ifndef AC_ATC_MULTI_RATE_YAW_IMAX
# define AC_ATC_MULTI_RATE_YAW_IMAX 0.222f # define AC_ATC_MULTI_RATE_YAW_IMAX 0.5f
#endif #endif
#ifndef AC_ATC_MULTI_RATE_YAW_FILT_HZ #ifndef AC_ATC_MULTI_RATE_YAW_FILT_HZ
# define AC_ATC_MULTI_RATE_YAW_FILT_HZ 5.0f # define AC_ATC_MULTI_RATE_YAW_FILT_HZ 2.5f
#endif #endif