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ACM: Allow for user defined roll and pitch input max

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This commit is contained in:
Jason Short 2012-11-10 13:11:11 -08:00
parent f68523b39b
commit 9735a0eff1
2 changed files with 9 additions and 2 deletions
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7
ArduCopter/config.h
View File

@ -715,6 +715,13 @@
//////////////////////////////////////////////////////////////////////////////
// Stabilize Rate Control
//
#ifndef MAX_INPUT_ROLL_ANGLE
# define MAX_INPUT_ROLL_ANGLE 4500
#endif
#ifndef MAX_INPUT_PITCH_ANGLE
# define MAX_INPUT_PITCH_ANGLE 4500
#endif
#ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.175
#endif

4
ArduCopter/radio.pde
View File

@ -21,8 +21,8 @@ static void default_dead_zones()
static void init_rc_in()
{
// set rc channel ranges
g.rc_1.set_angle(4500);
g.rc_2.set_angle(4500);
g.rc_1.set_angle(MAX_INPUT_ROLL_ANGLE);
g.rc_2.set_angle(MAX_INPUT_PITCH_ANGLE);
#if FRAME_CONFIG == HELI_FRAME
// we do not want to limit the movment of the heli's swash plate
g.rc_3.set_range(0, 1000);