From b749756c29e959f947e2cffc89c601b2b7a526a3 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 12 Apr 2021 14:22:10 +1000 Subject: [PATCH] Plane: setup SMAX for Q modes this enables logging of rates, which helps with tuning --- ArduPlane/quadplane.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 5901755ff5..ed196c9e55 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -568,9 +568,12 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = { { "Q_A_RAT_RLL_P", 0.25 }, { "Q_A_RAT_RLL_I", 0.25 }, { "Q_A_RAT_RLL_FLTD", 10.0 }, + { "Q_A_RAT_RLL_SMAX", 50.0 }, { "Q_A_RAT_PIT_P", 0.25 }, { "Q_A_RAT_PIT_I", 0.25 }, { "Q_A_RAT_PIT_FLTD", 10.0 }, + { "Q_A_RAT_PIT_SMAX", 50.0 }, + { "Q_A_RAT_YAW_SMAX", 50.0 }, { "Q_M_SPOOL_TIME", 0.25 }, { "Q_LOIT_ANG_MAX", 15.0 }, { "Q_LOIT_ACC_MAX", 250.0 },