From f5d9155ab29ffbb7413bd05b0e50567447cfc3f4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 21 Sep 2017 13:36:32 +0200 Subject: [PATCH] mc_att_control params: reduce default max acro rates from 360 to 120 deg/s 360 is too fast if you just want to hover. Next step is to add expo(), so that we still have fine-grained control at the center and high rates at the edges. --- src/modules/mc_att_control/mc_att_control_params.c | 6 +++--- 1 file changed, 3 insertions(+), 3 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 c687e5a94e..a07aa45529 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -373,7 +373,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRAUTO_MAX, 45.0f); * @increment 5 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 360.0f); +PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 120.0f); /** * Max acro pitch rate @@ -385,7 +385,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 360.0f); * @increment 5 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 360.0f); +PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 120.0f); /** * Max acro yaw rate @@ -397,7 +397,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 360.0f); * @increment 5 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 360.0f); +PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f); /** * Threshold for Rattitude mode