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AC_AttitudeControl: No Overshoot limit for Stab 

This maybe done in a more obvious way using a switch rather than just
making the overshoot larger than 180 degrees.
This commit is contained in:
Leonard Hall 2015-03-22 21:55:23 +10:30 committed by Randy Mackay
parent 35d1cbd053
commit 6b104c0529
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -29,8 +29,8 @@
#define AC_ATTITUDE_ANGLE_YAW_CONTROLLER_OUT_MAX 4500.0f // earth-frame angle controller maximum output (for yaw axis) #define AC_ATTITUDE_ANGLE_YAW_CONTROLLER_OUT_MAX 4500.0f // earth-frame angle controller maximum output (for yaw axis)
#define AC_ATTITUDE_ANGLE_CONTROLLER_ANGLE_MAX 4500.0f // earth-frame angle controller maximum input angle (To-Do: replace with reference to aparm.angle_max) #define AC_ATTITUDE_ANGLE_CONTROLLER_ANGLE_MAX 4500.0f // earth-frame angle controller maximum input angle (To-Do: replace with reference to aparm.angle_max)
#define AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle #define AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX 30000.0f // earth-frame rate stabilize controller's maximum overshoot angle (never limited)
#define AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle #define AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX 30000.0f // earth-frame rate stabilize controller's maximum overshoot angle (never limited)
#define AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX 1000.0f // earth-frame rate stabilize controller's maximum overshoot angle #define AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX 1000.0f // earth-frame rate stabilize controller's maximum overshoot angle
#define AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle #define AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle