aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: parameter conversion only for matrix multicopters

Browse Source 
Single, Coax and Tri copter rate parameter conversions were incorrect
This commit is contained in:
Randy Mackay 2016-09-13 09:44:38 +09:00
parent d0dd10aeea
commit a8f0291711
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Parameters.cpp
View File

@ -1129,7 +1129,7 @@ void Copter::convert_pid_parameters(void)
// and motor libraries switch to accept inputs in -1 to +1 range instead of -4500 ~ +4500
float pid_scaler = 1.27f;
#if FRAME_CONFIG != HELI_FRAME
#if FRAME_CONFIG == QUAD_FRAME || FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME || FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
// Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
if (g.frame_orientation == AP_MOTORS_X_FRAME || g.frame_orientation == AP_MOTORS_V_FRAME || g.frame_orientation == AP_MOTORS_H_FRAME) {
pid_scaler = 0.9f;