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Copter: Autotune Final Tweak

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Leonard Hall 2015-06-18 21:40:35 +09:00 committed by Randy Mackay
parent 7745fb21a7
commit a87e06e6c2
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/control_autotune.cpp
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@ -400,8 +400,8 @@ void Copter::autotune_attitude_control()
}
break;
case AUTOTUNE_AXIS_YAW:
autotune_target_rate = constrain_float(attitude_control.max_rate_step_bf_yaw()/1.5f, AUTOTUNE_TARGET_MIN_RATE_YAW_CDS, AUTOTUNE_TARGET_RATE_YAW_CDS);
autotune_target_angle = constrain_float(attitude_control.max_angle_step_bf_yaw(), AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD, AUTOTUNE_TARGET_ANGLE_YAW_CD);
autotune_target_rate = constrain_float(attitude_control.max_rate_step_bf_yaw()*0.75f, AUTOTUNE_TARGET_MIN_RATE_YAW_CDS, AUTOTUNE_TARGET_RATE_YAW_CDS);
autotune_target_angle = constrain_float(attitude_control.max_angle_step_bf_yaw()*0.75f, AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD, AUTOTUNE_TARGET_ANGLE_YAW_CD);
autotune_start_rate = ToDeg(ahrs.get_gyro().z) * 100.0f;
autotune_start_angle = ahrs.yaw_sensor;
rotation_rate_filt.set_cutoff_frequency(AUTOTUNE_Y_FILT_FREQ);