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APM_Control: lower the tuning trigger threshold 

this allows for slower stick movements during tuning

This is based on analysing the log from kir850 on rcgroups
This commit is contained in:
Andrew Tridgell 2021-07-29 06:33:46 +10:00 committed by Peter Barker
parent 6dce2e89c5
commit 47854ac4b7
1 changed files with 1 additions and 1 deletions
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2
libraries/APM_Control/AP_AutoTune.cpp
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@ -220,7 +220,7 @@ void AP_AutoTune::update(AP_Logger::PID_Info &pinfo, float scaler, float angle_e
}
// thresholds for when we consider an event to start and end
const float rate_threshold1 = 0.6 * MIN(att_limit_deg / current.tau.get(), current.rmax_pos);
const float rate_threshold1 = 0.4 * MIN(att_limit_deg / current.tau.get(), current.rmax_pos);
const float rate_threshold2 = 0.25 * rate_threshold1;
bool in_att_demand = fabsf(angle_err_deg) >= 0.3 * att_limit_deg;