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mc_att_control params: reduce default max acro rates from 360 to 120 deg/s

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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.
This commit is contained in:
Beat Küng
2017-10-01 15:36:21 +02:00
committed by Matthias Grob
parent 55da07d3c4
commit f5d9155ab2
1 changed files with 3 additions and 3 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+3 -3
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@@ -373,7 +373,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRAUTO_MAX, 45.0f);
* @increment 5 * @increment 5
* @group Multicopter Attitude Control * @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 * Max acro pitch rate
@@ -385,7 +385,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 360.0f);
* @increment 5 * @increment 5
* @group Multicopter Attitude Control * @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 * Max acro yaw rate
@@ -397,7 +397,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 360.0f);
* @increment 5 * @increment 5
* @group Multicopter Attitude Control * @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 * Threshold for Rattitude mode