From 5876a2fe47dff81f8a90e92952f4de8af2bf0c89 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 4 Apr 2014 17:47:11 +0900
Subject: [PATCH] AC_AttControl: increase default rp accel to 900deg/s/s
---
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp | 3 +--
libraries/AC_AttitudeControl/AC_AttitudeControl.h | 2 +-
2 files changed, 2 insertions(+), 3 deletions(-)
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index a460f5378..7fb570010 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -39,8 +39,7 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] PROGMEM = {
// @DisplayName: Acceleration Max for Roll/Pitch
// @Description: Maximum acceleration in roll/pitch axis
// @Units: Centi-Degrees/Sec/Sec
- // @Range: 20000 100000
- // @Increment: 100
+ // @Values: 36000:Very Soft, 54000:Soft, 90000:Medium, 126000:Crisp, 162000:Very Crisp
// @User: Advanced
AP_GROUPINFO("ACCEL_RP_MAX", 3, AC_AttitudeControl, _accel_rp_max, AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT),
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 21ad6df0d..85f94ff8e 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -21,7 +21,7 @@
#define AC_ATTITUDE_CONTROL_RATE_RP_MAX_DEFAULT 18000 // maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
#define AC_ATTITUDE_CONTROL_RATE_Y_MAX_DEFAULT 18000 // maximum rotation rate on yaw axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
#define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT 1000 // constraint on yaw angle error in degrees. This should lead to maximum turn rate of 10deg/sed * Stab Rate P so by default will be 45deg/sec.
-#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT 54000 // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
+#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT 90000 // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT 18000 // default maximum acceleration for yaw axis in centi-degrees/sec/sec
#define AC_ATTITUDE_RATE_CONTROLLER_TIMEOUT 1.0f // body-frame rate controller timeout in seconds
--
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