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AP_SCripting: update VTOL QuickTune to allow YAW FLTE = 0

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Henry Wurzburg 2024-04-02 10:56:22 -05:00 committed by Andrew Tridgell
parent 17a17a5955
commit b0decff44f
2 changed files with 3 additions and 1 deletions
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2
libraries/AP_Scripting/applets/VTOL-quicktune.lua
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@ -298,7 +298,7 @@ function setup_filters(axis)
adjust_gain(fltd, INS_GYRO_FILTER:get() * FLTD_MUL) adjust_gain(fltd, INS_GYRO_FILTER:get() * FLTD_MUL)
if axis == "YAW" then if axis == "YAW" then
local FLTE = params[flte] local FLTE = params[flte]
if FLTE:get() <= 0.0 or FLTE:get() > YAW_FLTE_MAX then if FLTE:get() < 0.0 or FLTE:get() > YAW_FLTE_MAX then
adjust_gain(flte, YAW_FLTE_MAX) adjust_gain(flte, YAW_FLTE_MAX)
end end
end end

2
libraries/AP_Scripting/applets/VTOL-quicktune.md
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@ -121,6 +121,8 @@ Install the lua script in the APM/SCRIPTS directory on the flight
controllers microSD card, then set SCR_ENABLE to 1. Reboot, and controllers microSD card, then set SCR_ENABLE to 1. Reboot, and
refresh parameters. Then set QUIK_ENABLE to 1. refresh parameters. Then set QUIK_ENABLE to 1.
IF vectored yaw ((tilt rotors) or TVBS tailsitter(motors on tilting servos), set Q_A_RAT_YAW_FLTE = 0 before running yaw tuning.
You will then need to setup a 3 position switch on an available RC You will then need to setup a 3 position switch on an available RC
input channel for controlling the tune (or 2 position if you set input channel for controlling the tune (or 2 position if you set
QUIK_AUTO_SAVE). If for example channel 6 is available with a 3 QUIK_AUTO_SAVE). If for example channel 6 is available with a 3