Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 05:58:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
View File

@ -6,9 +6,11 @@ extern const AP_HAL::HAL& hal;
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
// default gains for Plane
# 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
// default gains for Copter and Sub
# 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
AC_AttitudeControl *AC_AttitudeControl::_singleton;

1
libraries/AC_AttitudeControl/AC_AttitudeControl.h
View File

@ -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_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_MAN_DEFAULT 0.1f // manual throttle mix default