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Copter: updated toy gains
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@ -14,8 +14,8 @@ get_yaw_toy()
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// Gain scheduling for Yaw input -
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// Gain scheduling for Yaw input -
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// we reduce the yaw input based on the velocity of the copter
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// we reduce the yaw input based on the velocity of the copter
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// 0 = full control, 600cm/s = 20% control
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// 0 = full control, 600cm/s = 20% control
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toy_gain = min(inertial_nav.get_velocity_xy(), 600);
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toy_gain = min(inertial_nav.get_velocity_xy(), 700);
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toy_gain = 1.0 - (toy_gain / 750.0);
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toy_gain = 1.0 - (toy_gain / 800.0);
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get_yaw_rate_stabilized_ef((float)control_roll * toy_gain);
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get_yaw_rate_stabilized_ef((float)control_roll * toy_gain);
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}
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}
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