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Copter: tradheli uses set_defaults_from_table

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This commit is contained in:
Randy Mackay 2018-11-29 09:55:49 +09:00
parent 71708ee4ea
commit 00b909255c
1 changed files with 14 additions and 11 deletions
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25
ArduCopter/Parameters.cpp
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@ -1196,17 +1196,20 @@ void Copter::convert_pid_parameters(void)
// TradHeli default parameters
#if FRAME_CONFIG == HELI_FRAME
AP_Param::set_default_by_name("LOIT_ACC_MAX", 500.0f);
AP_Param::set_default_by_name("LOIT_BRK_ACCEL", 125.0f);
AP_Param::set_default_by_name("LOIT_BRK_DELAY", 1.0f);
AP_Param::set_default_by_name("LOIT_BRK_JERK", 250.0f);
AP_Param::set_default_by_name("LOIT_SPEED", 3000.0f);
AP_Param::set_default_by_name("PHLD_BRAKE_ANGLE", 800.0f);
AP_Param::set_default_by_name("PHLD_BRAKE_RATE", 4.0f);
AP_Param::set_default_by_name("PSC_ACCZ_P", 0.28f);
AP_Param::set_default_by_name("PSC_VELXY_D", 0.0f);
AP_Param::set_default_by_name("PSC_VELXY_I", 0.5f);
AP_Param::set_default_by_name("PSC_VELXY_P", 1.0f);
const struct AP_Param::defaults_table_struct heli_defaults_table[] = {
{ "LOIT_ACC_MAX", 500.0f },
{ "LOIT_BRK_ACCEL", 125.0f },
{ "LOIT_BRK_DELAY", 1.0f },
{ "LOIT_BRK_JERK", 250.0f },
{ "LOIT_SPEED", 3000.0f },
{ "PHLD_BRAKE_ANGLE", 800.0f },
{ "PHLD_BRAKE_RATE", 4.0f },
{ "PSC_ACCZ_P", 0.28f },
{ "PSC_VELXY_D", 0.0f },
{ "PSC_VELXY_I", 0.5f },
{ "PSC_VELXY_P", 1.0f },
};
AP_Param::set_defaults_from_table(heli_defaults_table, ARRAY_SIZE(heli_defaults_table));
#endif
const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old, Parameters::k_param_rc_2_old,