From 30df381f0ee22c474fea760349459789bbab9577 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 8 May 2025 20:55:28 +0200 Subject: [PATCH] multicopter_autonomous_params: adjust yaw acceleration and maximum rate for exclusive use with HeadingSmoothing --- src/modules/mc_pos_control/multicopter_autonomous_params.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_pos_control/multicopter_autonomous_params.c b/src/modules/mc_pos_control/multicopter_autonomous_params.c index e2e453d975..4237c02a77 100644 --- a/src/modules/mc_pos_control/multicopter_autonomous_params.c +++ b/src/modules/mc_pos_control/multicopter_autonomous_params.c @@ -145,7 +145,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.f); * @increment 5 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.f); +PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 60.f); /** * Maximum yaw acceleration in autonomous modes @@ -160,7 +160,7 @@ PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.f); * @increment 5 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_ACC, 60.f); +PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_ACC, 20.f); /** * Heading behavior in autonomous modes