rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

yaw_fix default values 

Pull request #802 has by default disabled yaw jump. That is fine on the
most of the configurations, but one of my multirotors had an angled
motor due to crash and this was causing weird behaviour.
It is also possible to configure very low values, which can even cause a
craft to not be able to stop after yaw and I am talking about the values
below 100 like 1.

Anyway this fix provides only valid configurable values what can't cause
any danger. Also default parameter is not unlimited anymore and is
configured to 200, which is a safe value to anybody who does the
upgrade.
cli.md is also edited
This commit is contained in:
BorisB 2015-05-01 13:45:22 +02:00
parent 32884ad399
commit c3522882f2
4 changed files with 5 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
docs/Cli.md
View File

@ -179,6 +179,7 @@ Re-apply any new defaults as desired.
| throttle_correction_angle | The throttle_correction_value will be added to the throttle input. It will be maximal at the throttle_correction_angle and over, null when the copter is leveled and proportional in bewteen. The angle is set with 0.1 deg steps from 1 to 900, ie : 300 = 30.0 deg, 225 = 22.5 deg. | 1 | 900 | 800 | Profile | UINT16 |
| yaw_control_direction | | -1 | 1 | 1 | Master | INT8 |
| yaw_direction | | -1 | 1 | 1 | Profile | INT8 |
| yaw_jump_prevention_limit | Prevent yaw jumps during yaw stops. | 200 | 80 | 500 | Master | UINT16 |
| tri_unarmed_servo | On tricopter mix only, if this is set to 1, servo will always be correcting regardless of armed state. to disable this, set it to 0. | 0 | 1 | 1 | Profile | INT8 |
| default_rate_profile | Default = profile number | 0 | 2 | | Profile | UINT8 |
| rc_rate | | 0 | 250 | 90 | Rate Profile | UINT8 |
@ -241,4 +242,4 @@ Re-apply any new defaults as desired.
| i_vel | | 0 | 200 | 45 | Profile | UINT8 |
| d_vel | | 0 | 200 | 1 | Profile | UINT8 |
| blackbox_rate_num | | 1 | 32 | 1 | Master | UINT8 |
| blackbox_rate_denom | | 1 | 32 | 1 | Master | UINT8 |
| blackbox_rate_denom |

2
src/main/config/config.c
View File

@ -319,7 +319,7 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
void resetMixerConfig(mixerConfig_t *mixerConfig) {
mixerConfig->pid_at_min_throttle = 1;
mixerConfig->yaw_direction = 1;
mixerConfig->yaw_jump_prevention_limit = 0;
mixerConfig->yaw_jump_prevention_limit = 200;
#ifdef USE_SERVOS
mixerConfig->tri_unarmed_servo = 1;
mixerConfig->servo_lowpass_freq = 400;

2
src/main/flight/mixer.c
View File

@ -564,7 +564,7 @@ void mixTable(void)
{
uint32_t i;
if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit) {
if (motorCount >= 4) {
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}

2
src/main/io/serial_cli.c
View File

@ -387,7 +387,7 @@ const clivalue_t valueTable[] = {
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.mixerConfig.pid_at_min_throttle, 0, 1 },
{ "yaw_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_direction, -1, 1 },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, 0, 500 },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, 80, 500 },
#ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.tri_unarmed_servo, 0, 1 },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, 10, 400},