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Yaw rate limit: use a lower limit for less twitching

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Lorenz Meier
2016-01-24 11:13:47 +01:00
parent e2fd2f466e
commit bf03b8cb18
1 changed files with 2 additions and 1 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+2 -1
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@@ -254,13 +254,14 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
* Limit for yaw rate, has effect for large rotations in autonomous mode, * Limit for yaw rate, has effect for large rotations in autonomous mode,
* to avoid large control output and mixer saturation. A value of significantly * to avoid large control output and mixer saturation. A value of significantly
* over 60 degrees per second can already lead to mixer saturation. * over 60 degrees per second can already lead to mixer saturation.
* A value of 30 degrees / second is recommended to avoid very audible twitches.
* *
* @unit deg/s * @unit deg/s
* @min 0.0 * @min 0.0
* @max 360.0 * @max 360.0
* @group Multicopter Attitude Control * @group Multicopter Attitude Control
*/ */
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 60.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 30.0f);
/** /**
* Max acro roll rate * Max acro roll rate