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AC_AutoTune: reduce target angle for feedforward test

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Bill Geyer 2022-02-01 17:03:38 -05:00 committed by Bill Geyer
parent a91cc7aad7
commit 6356970839
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
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@ -40,7 +40,7 @@
#define AUTOTUNE_ACCEL_RP_BACKOFF 1.0f // back off from maximum acceleration
#define AUTOTUNE_ACCEL_Y_BACKOFF 1.0f // back off from maximum acceleration
#define AUTOTUNE_HELI_TARGET_ANGLE_RLLPIT_CD 2000 // target roll/pitch angle during AUTOTUNE FeedForward rate test
#define AUTOTUNE_HELI_TARGET_ANGLE_RLLPIT_CD 1500 // target roll/pitch angle during AUTOTUNE FeedForward rate test
#define AUTOTUNE_HELI_TARGET_RATE_RLLPIT_CDS 5000 // target roll/pitch rate during AUTOTUNE FeedForward rate test
#define AUTOTUNE_FFI_RATIO_FOR_TESTING 0.5f // I is set 2x smaller than VFF during testing
#define AUTOTUNE_FFI_RATIO_FINAL 0.5f // I is set 0.5x VFF after testing
@ -734,9 +734,9 @@ void AC_AutoTune_Heli::rate_ff_test_init()
settle_time = 200;
phase_out_time = 500;
rate_request_cds.reset(0);
rate_request_cds.set_cutoff_frequency(0.8f);
rate_request_cds.set_cutoff_frequency(1.0f);
angle_request_cd.reset(0);
angle_request_cd.set_cutoff_frequency(0.8f);
angle_request_cd.set_cutoff_frequency(1.0f);
}
void AC_AutoTune_Heli::rate_ff_test_run(float max_angle_cd, float target_rate_cds, float dir_sign)