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TradHeli - increase max yaw input to 45 degrees

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rmackay9 2012-02-24 20:18:40 +09:00
parent 385828824d
commit 57e5eee8c8
1 changed files with 5 additions and 0 deletions
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ArduCopter/Attitude.pde
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@ -62,8 +62,13 @@ get_stabilize_yaw(int32_t target_angle)
// angle error // angle error
target_angle = wrap_180(target_angle - dcm.yaw_sensor); target_angle = wrap_180(target_angle - dcm.yaw_sensor);
#if FRAME_CONFIG == HELI_FRAME // cannot use rate control for helicopters
// limit the error we're feeding to the PID
target_angle = constrain(target_angle, -4500, 4500);
#else
// limit the error we're feeding to the PID // limit the error we're feeding to the PID
target_angle = constrain(target_angle, -2000, 2000); target_angle = constrain(target_angle, -2000, 2000);
#endif
// conver to desired Rate: // conver to desired Rate:
int32_t target_rate = g.pi_stabilize_yaw.get_p(target_angle); int32_t target_rate = g.pi_stabilize_yaw.get_p(target_angle);