From 3ad635feeb515a8ff63d135ebe5d56f2ef891471 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sun, 30 Mar 2014 15:42:29 +0900 Subject: [PATCH] AC_AttControl: 45deg/sec yaw rate for Auto, RTL --- libraries/AC_AttitudeControl/AC_AttitudeControl.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h index 72a930c055..2662cfaeeb 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h @@ -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