From faa85bd42375e73be62105bafee473e31186fc92 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sun, 7 Jul 2013 15:58:33 -1000
Subject: [PATCH] WPNav: reduce default WP_ACCEL and LOITER_SPEED
---
libraries/AC_WPNav/AC_WPNav.h | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index 5fa5885f2..793245562 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -11,14 +11,14 @@
#include <AP_InertialNav.h> // Inertial Navigation library
// loiter maximum velocities and accelerations
-#define WPNAV_ACCELERATION 250.0f // defines the default velocity vs distant curve. maximum acceleration in cm/s/s that position controller asks for from acceleration controller
+#define WPNAV_ACCELERATION 100.0f // defines the default velocity vs distant curve. maximum acceleration in cm/s/s that position controller asks for from acceleration controller
#define WPNAV_ACCELERATION_MIN 50.0f // minimum acceleration in cm/s/s - used for sanity checking _wp_accel parameter
#define WPNAV_ACCEL_MAX 980.0f // max acceleration in cm/s/s that the loiter velocity controller will ask from the lower accel controller.
// should be 1.5 times larger than WPNAV_ACCELERATION.
// max acceleration = max lean angle * 980 * pi / 180. i.e. 23deg * 980 * 3.141 / 180 = 393 cm/s/s
-#define WPNAV_LOITER_SPEED 750.0f // maximum default loiter speed in cm/s
-#define WPNAV_LOITER_ACCEL_MAX 375.0f // maximum acceleration in loiter mode
+#define WPNAV_LOITER_SPEED 500.0f // maximum default loiter speed in cm/s
+#define WPNAV_LOITER_ACCEL_MAX 250.0f // maximum acceleration in loiter mode
#define WPNAV_LOITER_ACCEL_MIN 25.0f // minimum acceleration in loiter mode
#define MAX_LEAN_ANGLE 4500 // default maximum lean angle
@@ -29,7 +29,7 @@
#define WPNAV_WP_SPEED_UP 250.0f // default maximum climb velocity
#define WPNAV_WP_SPEED_DOWN 150.0f // default maximum descent velocity
-#define WPNAV_ALT_HOLD_P 2.0f // default throttle controller's altitude hold's P gain.
+#define WPNAV_ALT_HOLD_P 1.0f // default throttle controller's altitude hold's P gain.
#define WPNAV_ALT_HOLD_ACCEL_MAX 250.0f // hard coded copy of throttle controller's maximum acceleration in cm/s. To-Do: remove duplication with throttle controller definition
#define WPNAV_MIN_LEASH_LENGTH 100.0f // minimum leash lengths in cm
--
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