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Copter: updated toy gains

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Jason Short 2013-11-02 15:57:22 -07:00 committed by Randy Mackay
parent b9a4a7e0bf
commit 558dd6db04
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/toy.pde
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@ -14,8 +14,8 @@ get_yaw_toy()
// Gain scheduling for Yaw input -
// we reduce the yaw input based on the velocity of the copter
// 0 = full control, 600cm/s = 20% control
toy_gain = min(inertial_nav.get_velocity_xy(), 600);
toy_gain = 1.0 - (toy_gain / 750.0);
toy_gain = min(inertial_nav.get_velocity_xy(), 700);
toy_gain = 1.0 - (toy_gain / 800.0);
get_yaw_rate_stabilized_ef((float)control_roll * toy_gain);
}