Copter: increase max loiter speed to 7.5m/s

libraries/AC_WPNav/AC_WPNav.h

@@ -11,15 +11,15 @@
 #include <AP_InertialNav.h>     // Inertial Navigation library
 
 // loiter maximum velocities and accelerations
-#define MAX_LOITER_POS_VELOCITY         500         // maximum velocity that our position controller will request.  should be 1.5 ~ 2.0 times the pilot input's max velocity.  To-Do: make consistent with maximum velocity requested by pilot input to loiter
-#define MAX_LOITER_POS_ACCEL            500         // defines the velocity vs distant curve.  maximum acceleration in cm/s/s that loiter position controller asks for from acceleration controller
-#define MAX_LOITER_VEL_ACCEL            800         // max acceleration in cm/s/s that the loiter velocity controller will ask from the lower accel controller.
+#define MAX_LOITER_POS_VELOCITY         750.0f      // maximum velocity that our position controller will request.  should be 1.5 ~ 2.0 times the pilot input's max velocity.  To-Do: make consistent with maximum velocity requested by pilot input to loiter
+#define MAX_LOITER_POS_ACCEL            500.0f      // defines the velocity vs distant curve.  maximum acceleration in cm/s/s that loiter position controller asks for from acceleration controller
+#define MAX_LOITER_VEL_ACCEL            800.0f      // max acceleration in cm/s/s that the loiter velocity controller will ask from the lower accel controller.
                                                     // should be 1.5 times larger than MAX_LOITER_POS_ACCEL.
                                                     // max acceleration = max lean angle * 980 * pi / 180.  i.e. 23deg * 980 * 3.141 / 180 = 393 cm/s/s
 
 #define MAX_LEAN_ANGLE                  4500        // default maximum lean angle
 
-#define MAX_LOITER_OVERSHOOT            531        // maximum distance (in cm) that we will allow the target loiter point to be from the current location when switching into loiter
+#define MAX_LOITER_OVERSHOOT            625.0f      // maximum distance (in cm) that we will allow the target loiter point to be from the current location when switching into loiter
 // D0 = MAX_LOITER_POS_ACCEL/(2*Pid_P^2);
 // if MAX_LOITER_POS_VELOCITY > 2*D0*Pid_P
 //     MAX_LOITER_OVERSHOOT = D0 + MAX_LOITER_POS_VELOCITY.^2 ./ (2*MAX_LOITER_POS_ACCEL);