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AC_AutoTune: fix max angle check to be circular

This commit is contained in:
Bill Geyer 2021-12-21 23:41:49 -05:00 committed by Bill Geyer
parent 790a77d44a
commit 476560d377
1 changed files with 3 additions and 1 deletions
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4
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -53,6 +53,7 @@
#define AUTOTUNE_RP_BACKOFF 1.0f // Rate P gains are reduced to 97.5% of their maximum value discovered during tuning
#define AUTOTUNE_ACCEL_RP_BACKOFF 1.0f // back off from maximum acceleration
#define AUTOTUNE_ACCEL_Y_BACKOFF 1.0f // back off from maximum acceleration
#define AUTOTUNE_ANGLE_MAX_RLLPIT 30.0f // maximum allowable angle during testing
// ifdef is not working. Modified multi values to reflect heli requirements
@ -478,7 +479,8 @@ void AC_AutoTune::control_attitude()
}
// protect from roll over
if (ahrs_view->roll_sensor > 3000.0f || ahrs_view->roll_sensor < -3000.0f ||ahrs_view->pitch_sensor > 3000.0f || ahrs_view->pitch_sensor < -3000.0f) {
float resultant_angle = degrees(acosf(ahrs_view->cos_roll() * ahrs_view->cos_pitch()));
if (resultant_angle > AUTOTUNE_ANGLE_MAX_RLLPIT) {
step = WAITING_FOR_LEVEL;
}