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APM_Control: tweak the activation detection to catch more events

This commit is contained in:
Andrew Tridgell 2021-04-14 09:14:33 +10:00
parent bb1dc7192b
commit 767a0b2a99
1 changed files with 1 additions and 1 deletions
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2
libraries/APM_Control/AP_AutoTune.cpp
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@ -203,7 +203,7 @@ 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 = 0.75 * MIN(att_limit_deg / current.tau.get(), current.rmax_pos);
const float rate_threshold1 = 0.6 * 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;