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AC_AttControl: increase default accel max

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Randy Mackay 2014-05-29 17:36:50 +09:00
parent db000f2287
commit 7e3213edbf
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -21,8 +21,8 @@
#define AC_ATTITUDE_CONTROL_RATE_RP_MAX_DEFAULT 18000 // maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
#define AC_ATTITUDE_CONTROL_RATE_Y_MAX_DEFAULT 18000 // maximum rotation rate on yaw axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
#define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT 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 90000 // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT 18000 // default maximum acceleration for yaw axis in centi-degrees/sec/sec
#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT 126000 // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT 36000 // default maximum acceleration for yaw axis in centi-degrees/sec/sec
#define AC_ATTITUDE_RATE_CONTROLLER_TIMEOUT 1.0f // body-frame rate controller timeout in seconds
#define AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX 5000.0f // body-frame rate controller maximum output (for roll-pitch axis)