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AC_AttitudeControl: reduce alt hold min lean angle to 5deg on plane

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Iampete1 2022-05-25 15:03:36 +01:00 committed by Andrew Tridgell
parent 132431a75e
commit b201c5b238
2 changed files with 2 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -6,9 +6,11 @@ extern const AP_HAL::HAL& hal;
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane) #if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
// default gains for Plane // default gains for Plane
# define AC_ATTITUDE_CONTROL_INPUT_TC_DEFAULT 0.2f // Soft # define AC_ATTITUDE_CONTROL_INPUT_TC_DEFAULT 0.2f // Soft
#define AC_ATTITUDE_CONTROL_ANGLE_LIMIT_MIN 5.0 // Min lean angle so that vehicle can maintain limited control
#else #else
// default gains for Copter and Sub // default gains for Copter and Sub
# define AC_ATTITUDE_CONTROL_INPUT_TC_DEFAULT 0.15f // Medium # define AC_ATTITUDE_CONTROL_INPUT_TC_DEFAULT 0.15f // Medium
#define AC_ATTITUDE_CONTROL_ANGLE_LIMIT_MIN 10.0 // Min lean angle so that vehicle can maintain limited control
#endif #endif
AC_AttitudeControl *AC_AttitudeControl::_singleton; AC_AttitudeControl *AC_AttitudeControl::_singleton;

1
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -35,7 +35,6 @@
#define AC_ATTITUDE_CONTROL_ANGLE_LIMIT_TC_DEFAULT 1.0f // Time constant used to limit lean angle so that vehicle does not lose altitude #define AC_ATTITUDE_CONTROL_ANGLE_LIMIT_TC_DEFAULT 1.0f // Time constant used to limit lean angle so that vehicle does not lose altitude
#define AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX 0.8f // Max throttle used to limit lean angle so that vehicle does not lose altitude #define AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX 0.8f // Max throttle used to limit lean angle so that vehicle does not lose altitude
#define AC_ATTITUDE_CONTROL_ANGLE_LIMIT_MIN 10.0f // Min lean angle so that vehicle can maintain limited control
#define AC_ATTITUDE_CONTROL_MIN_DEFAULT 0.1f // minimum throttle mix default #define AC_ATTITUDE_CONTROL_MIN_DEFAULT 0.1f // minimum throttle mix default
#define AC_ATTITUDE_CONTROL_MAN_DEFAULT 0.1f // manual throttle mix default #define AC_ATTITUDE_CONTROL_MAN_DEFAULT 0.1f // manual throttle mix default