From 75796e95b4232f961b7ccc9e8c8a76433b389eae Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 3 May 2014 19:19:57 +0200 Subject: mc_att_control: MC_YAWRATE_MAX parameter added --- src/modules/mc_att_control/mc_att_control_params.c | 12 ++++++++++++ 1 file changed, 12 insertions(+) (limited to 'src/modules/mc_att_control/mc_att_control_params.c') diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index e52c39368..19134c7b4 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -174,6 +174,18 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); */ PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f); +/** + * Max yaw rate + * + * Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + * + * @unit deg/s + * @min 0.0 + * @max 360.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f); + /** * Max manual roll * -- cgit v1.2.3