From 5cf20c8dcfeba450bcc926f4a73b81c382a9ad43 Mon Sep 17 00:00:00 2001 From: tumbili Date: Tue, 23 Jun 2015 12:57:31 +0200 Subject: [PATCH] increase fw idle for ATTCTL and POSCTL to 0.2 --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 90e4da3479..95c8545e73 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -99,7 +99,7 @@ static int _control_task = -1; /**< task handle for sensor task */ #define HDG_HOLD_SET_BACK_DIST 100.0f // distance by which previous waypoint is set behind the plane #define HDG_HOLD_YAWRATE_THRESH 0.1f // max yawrate at which plane locks yaw for heading hold mode #define HDG_HOLD_MAN_INPUT_THRESH 0.01f // max manual roll input from user which does not change the locked heading -#define TAKEOFF_IDLE 0.1f // idle speed for POSCTRL/ATTCTRL (when landed and throttle stick > 0) +#define TAKEOFF_IDLE 0.2f // idle speed for POSCTRL/ATTCTRL (when landed and throttle stick > 0) static constexpr float THROTTLE_THRESH = 0.05f; ///< max throttle from user which will not lead to motors spinning up in altitude controlled modes static constexpr float MANUAL_THROTTLE_CLIMBOUT_THRESH = 0.85f; ///< a throttle / pitch input above this value leads to the system switching to climbout mode