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AC_AttControl: lower minimum accelerations for large copters

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Leonard Hall 2016-02-18 20:48:23 +09:00 committed by Randy Mackay
parent 8e790d3f91
commit 49a4bde5d9
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -18,9 +18,9 @@
// TODO: change the name or move to AP_Math? eliminate in favor of degrees(100)?
#define AC_ATTITUDE_CONTROL_DEGX100 5729.57795f // constant to convert from radians to centidegrees
#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MIN_RADSS radians(360.0f) // minimum body-frame acceleration limit for the stability controller (for roll and pitch axis)
#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MIN_RADSS radians(40.0f) // minimum body-frame acceleration limit for the stability controller (for roll and pitch axis)
#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MAX_RADSS radians(720.0f) // maximum body-frame acceleration limit for the stability controller (for roll and pitch axis)
#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MIN_RADSS radians(90.0f) // minimum body-frame acceleration limit for the stability controller (for yaw axis)
#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MIN_RADSS radians(10.0f) // minimum body-frame acceleration limit for the stability controller (for yaw axis)
#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX_RADSS radians(360.0f) // maximum body-frame acceleration limit for the stability controller (for yaw axis)
#define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT_CDS 1000 // constraint on yaw angle error in degrees. This should lead to maximum turn rate of 10deg/sed * Stab Rate P so by default will be 45deg/sec.
#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT_CDSS 110000.0f // default maximum acceleration for roll/pitch axis in centidegrees/sec/sec