From 8b7f1cf560220f649001d2927e4831dd9504be31 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 6 Aug 2015 22:09:35 +0200 Subject: [PATCH] MC multi attitude control: Limit yaw rate to avoid mixer saturation. --- .../mc_att_control_multiplatform/mc_att_control_params.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_params.h b/src/modules/mc_att_control_multiplatform/mc_att_control_params.h index c3b71715bb..bb7f7360e4 100644 --- a/src/modules/mc_att_control_multiplatform/mc_att_control_params.h +++ b/src/modules/mc_att_control_multiplatform/mc_att_control_params.h @@ -56,7 +56,7 @@ #define PARAM_MP_YAWRATE_I_DEFAULT 0.0f #define PARAM_MP_YAWRATE_D_DEFAULT 0.0f #define PARAM_MP_YAW_FF_DEFAULT 0.5f -#define PARAM_MP_YAWRATE_MAX_DEFAULT 120.0f +#define PARAM_MP_YAWRATE_MAX_DEFAULT 60.0f #define PARAM_MP_ACRO_R_MAX_DEFAULT 35.0f #define PARAM_MP_ACRO_P_MAX_DEFAULT 35.0f #define PARAM_MP_ACRO_Y_MAX_DEFAULT 120.0f