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Helicopter: add yaw compensation from throttle CA_HELI_YAW_TH_S

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This commit is contained in:
Matthias Grob
2022-08-09 13:19:55 +02:00
committed by Beat Küng
parent 554d965a2d
commit 9ba6f4efb7
3 changed files with 20 additions and 2 deletions
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src/modules/control_allocator/module.yaml
+14 -1
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@@ -444,7 +444,7 @@ parameters:
default: [0.05, 0.15, 0.25, 0.35, 0.45]
CA_HELI_YAW_CP_S:
description:
short: Yaw scaling by collective pitch
short: Scale for yaw compensation based on collective pitch
long: |
This allows to add a proportional factor of the collective pitch command to the yaw command.
@@ -455,6 +455,19 @@ parameters:
min: -2
max: 2
default: 0.0
CA_HELI_YAW_TH_S:
description:
short: Scale for yaw compensation based on throttle
long: |
This allows to add a proportional factor of the throttle command to the yaw command.
tail_output += CA_HELI_YAW_TH_S * throttle
type: float
decimal: 3
increment: 0.1
min: -2
max: 2
default: 0.0
# Others
CA_FAILURE_MODE: