diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 58b10068b5..57151fd581 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -507,11 +507,11 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = { // @Param: FWD_THR_GAIN // @DisplayName: Q mode fwd throttle gain - // @Description: Gain from forward accel/tilt to forward throttle that is used in all VTOL modes except autotune. Vehicles using separate forward thrust motors, eg quadplanes, should set this parameter to (all up weight) / (maximum combined thrust of forward motors). Vehicles that tilt lifting rotors to provide forward thrust should set this parameter to (all up weight) / (weight lifted by tilting rotors) which for most aircraft can be approximnated as (total number of lifting rotors) / (number of lifting rotors that tilt). When using this method of forward throttle control, the forward tilt angle limit is controlled by the Q_FWD_PIT_LIM parameter and the Q_VFWD_GAIN parameter should be set to 0 to disable the alternative method that works through the velocity controller. Set Q_FWD_THR_GAIN to 0 to disable this function. Do not use this parameter with tail sitters. + // @Description: Gain from forward accel/tilt to forward throttle that is used in all VTOL modes except autotune. Vehicles using separate forward thrust motors, eg quadplanes, should set this parameter to (all up weight) / (maximum combined thrust of forward motors) with a value of 2 being typical. Vehicles that tilt lifting rotors to provide forward thrust should set this parameter to (all up weight) / (weight lifted by tilting rotors) which for most aircraft can be approximated as (total number of lifting rotors) / (number of lifting rotors that tilt). When using this method of forward throttle control, the forward tilt angle limit is controlled by the Q_FWD_PIT_LIM parameter and the Q_VFWD_GAIN parameter should be set to 0 to disable the alternative method that works through the velocity controller. Set Q_FWD_THR_GAIN to 0 to disable this function. Do not use this parameter with tail sitters. // @Range: 0.0 5.0 // @Increment: 0.1 // @User: Standard - AP_GROUPINFO("FWD_THR_GAIN", 35, QuadPlane, q_fwd_thr_gain, 2.0f), + AP_GROUPINFO("FWD_THR_GAIN", 35, QuadPlane, q_fwd_thr_gain, 0.0f), // @Param: FWD_PIT_LIM // @DisplayName: Q mode forward pitch limit