From ebb061764a23d075dfd22a7d6fc3a8e03f048ae9 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 6 Aug 2015 22:09:09 +0200 Subject: [PATCH] MC attitude control: Limit yaw rate further to avoid mixer saturation in the first place --- src/modules/mc_att_control/mc_att_control_params.c | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 42c7bc3d04..9af68a4e1e 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -232,14 +232,16 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 360.0f); /** * Max yaw rate * - * Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + * Limit for yaw rate, has effect for large rotations in autonomous mode, + * to avoid large control output and mixer saturation. A value of significantly + * over 60 degrees per second can already lead to mixer saturation. * * @unit deg/s * @min 0.0 * @max 360.0 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 60.0f); /** * Max acro roll rate