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FW pos control: Widen acceptance range for yaw rate to re-engage heading hold

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Lorenz Meier
2015-07-06 01:43:00 +02:00
parent 2adb48ce90
commit fd63ba7b89
1 changed files with 1 additions and 1 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+1 -1
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@@ -97,7 +97,7 @@ static int _control_task = -1; /**< task handle for sensor task */
#define HDG_HOLD_DIST_NEXT 3000.0f // initial distance of waypoint in front of plane in heading hold mode
#define HDG_HOLD_REACHED_DIST 1000.0f // distance (plane to waypoint in front) at which waypoints are reset in heading hold mode
#define HDG_HOLD_SET_BACK_DIST 100.0f // distance by which previous waypoint is set behind the plane
#define HDG_HOLD_YAWRATE_THRESH 0.1f // max yawrate at which plane locks yaw for heading hold mode
#define HDG_HOLD_YAWRATE_THRESH 0.15f // max yawrate at which plane locks yaw for heading hold mode
#define HDG_HOLD_MAN_INPUT_THRESH 0.01f // max manual roll input from user which does not change the locked heading
#define TAKEOFF_IDLE 0.2f // idle speed for POSCTRL/ATTCTRL (when landed and throttle stick > 0)