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MC attitude control: Limit yaw rate further to avoid mixer saturation in the first place

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Lorenz Meier
2015-08-06 22:09:09 +02:00
parent e0870d09cd
commit ebb061764a
1 changed files with 4 additions and 2 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+4 -2
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@@ -232,14 +232,16 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 360.0f);
/** /**
* Max yaw rate * 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 * @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, 120.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 60.0f);
/** /**
* Max acro roll rate * Max acro roll rate