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Copter: parameter conversion only for matrix multicopters

Single, Coax and Tri copter rate parameter conversions were incorrect
master
Randy Mackay 9 years ago
parent
commit
a8f0291711
  1. 2
      ArduCopter/Parameters.cpp

2
ArduCopter/Parameters.cpp

@ -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 // and motor libraries switch to accept inputs in -1 to +1 range instead of -4500 ~ +4500
float pid_scaler = 1.27f; 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 // 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) { 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; pid_scaler = 0.9f;

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