From 4aa88d172c5da8426c93b8a348caf4f5d8b61655 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 27 Sep 2021 11:57:28 +1000 Subject: [PATCH] HAL_ChibiOS: adjust Swan-K1 parameters limit down pitch to 15 degrees to prevent overspeed, and limit angular rates to 100 deg/s --- libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm index 628506e143..dfa0339319 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm @@ -40,8 +40,11 @@ ARSPD_FBW_MAX 25 ARSPD_FBW_MIN 8 ARSPD_RATIO 1.9 LIM_ROLL_CD 4000 + +# the HWing can become unstable at high speeds. Limit pitch angle +# to prevent overspeed LIM_PITCH_MAX 4500 -LIM_PITCH_MIN -3000 +LIM_PITCH_MIN -1500 # setup left 3-pos switch for QHOVER, QLOITER and FBWA FLTMODE1 18 @@ -102,6 +105,9 @@ Q_M_THST_HOVER 0.45 Q_M_BAT_VOLT_MAX 16.8 Q_M_BAT_VOLT_MIN 13.2 Q_TAILSIT_RAT_VT 30 +Q_A_RATE_Y_MAX 100 +Q_A_RATE_R_MAX 100 +Q_A_RATE_P_MAX 100 Q_WP_ACCEL 250 Q_WP_ACCEL_Z 300