From d6df692b7a69460642f1efaad967538f8b6ef1c2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 8 Sep 2017 18:22:41 +0200 Subject: [PATCH] param MPC_MAN_TILT_MAX: decrease maximum from 90 to 85 degrees At 90 degrees the yaw is extremely unstable (tested with HIL), it overshoots and only very slowly converges to the correct value. This behavior is also noticable with lower angles, but not so extreme. It definitely needs to be looked into further, but for now this makes it safer. --- src/modules/mc_pos_control/mc_pos_control_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 65d8393090..45e26cb00a 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -341,7 +341,7 @@ PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f); * * @unit deg * @min 0.0 - * @max 90.0 + * @max 85.0 * @decimal 1 * @group Multicopter Position Control */