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AC_AttControl: fix rate controller max definitions to -1 to +1 range

This commit is contained in:
Randy Mackay 2016-02-02 21:09:26 +09:00
parent 3ae9b606ff
commit c5e5b4f783
1 changed files with 2 additions and 4 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -25,10 +25,8 @@
#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT_CDSS 27000.0f // default maximum acceleration for yaw axis in centidegrees/sec/sec
#define AC_ATTITUDE_RATE_CONTROLLER_TIMEOUT 1.0f // body-frame rate controller timeout in seconds
#define AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX 5000.0f // body-frame rate controller maximum output (for roll-pitch axis)
#define AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX 4500.0f // body-frame rate controller maximum output (for yaw axis)
#define AC_ATTITUDE_ANGLE_YAW_CONTROLLER_OUT_MAX 4500.0f // earth-frame angle controller maximum output (for yaw axis)
#define AC_ATTITUDE_ANGLE_CONTROLLER_ANGLE_MAX 4500.0f // earth-frame angle controller maximum input angle (To-Do: replace with reference to aparm.angle_max)
#define AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX 1.0f // body-frame rate controller maximum output (for roll-pitch axis)
#define AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX 1.0f // body-frame rate controller maximum output (for yaw axis)
#define AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX_RAD radians(300.0f) // earth-frame rate stabilize controller's maximum overshoot angle (never limited)
#define AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX_RAD radians(300.0f) // earth-frame rate stabilize controller's maximum overshoot angle (never limited)