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AC_AttControl: 45deg/sec yaw rate for Auto, RTL

master
Randy Mackay 11 years ago
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3ad635feeb
1 changed files with 1 additions and 1 deletions
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  1. 2
      libraries/AC_AttitudeControl/AC_AttitudeControl.h

2
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -20,7 +20,7 @@ @@ -20,7 +20,7 @@
#define AC_ATTITUDE_CONTROL_DEGX100 5729.57795f // constant to convert from radians to centi-degrees
#define AC_ATTITUDE_CONTROL_RATE_RP_MAX_DEFAULT 18000 // maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
#define AC_ATTITUDE_CONTROL_RATE_Y_MAX_DEFAULT 18000 // maximum rotation rate on yaw axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
#define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT 6000 // default yaw slew rate in centi-degrees/sec (i.e. maximum yaw target change in 1second)
#define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT 1000 // constraint on yaw angle error in degrees. This should lead to maximum turn rate of 10deg/sed * Stab Rate P so by default will be 45deg/sec.
#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT 54000 // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT 18000 // default maximum acceleration for yaw axis in centi-degrees/sec/sec

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