From ec70042d2564fe7994f7ccce108d9635984717f1 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 19 Feb 2015 16:15:33 +1100 Subject: [PATCH] APM_Control: raise default IMAX to 3000 on the first flight users often need more I gain to overcome poor choices for the P gain --- libraries/APM_Control/AP_PitchController.cpp | 4 ++-- libraries/APM_Control/AP_RollController.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp index c3590ea8cf..731429a7f9 100644 --- a/libraries/APM_Control/AP_PitchController.cpp +++ b/libraries/APM_Control/AP_PitchController.cpp @@ -87,11 +87,11 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = { // @Param: IMAX // @DisplayName: Integrator limit - // @Description: This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness. + // @Description: This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 2/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness. // @Range: 0 4500 // @Increment: 1 // @User: Advanced - AP_GROUPINFO("IMAX", 7, AP_PitchController, gains.imax, 1500), + AP_GROUPINFO("IMAX", 7, AP_PitchController, gains.imax, 3000), AP_GROUPEND }; diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp index 6799255f2c..df34a7a580 100644 --- a/libraries/APM_Control/AP_RollController.cpp +++ b/libraries/APM_Control/AP_RollController.cpp @@ -69,11 +69,11 @@ const AP_Param::GroupInfo AP_RollController::var_info[] PROGMEM = { // @Param: IMAX // @DisplayName: Integrator limit - // @Description: This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the aircraft is severely out of trim. + // @Description: This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 2/3rd of the total control throw which is adequate unless the aircraft is severely out of trim. // @Range: 0 4500 // @Increment: 1 // @User: Advanced - AP_GROUPINFO("IMAX", 5, AP_RollController, gains.imax, 1500), + AP_GROUPINFO("IMAX", 5, AP_RollController, gains.imax, 3000), AP_GROUPEND };