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Added roll to yaw cross link control to improve roll rotation on high angle of attack

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demvlad 2025-04-19 19:48:24 +03:00
parent ae1ff951df
commit b95e336c0a
5 changed files with 37 additions and 5 deletions
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5
src/main/flight/pid.c
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@ -282,9 +282,12 @@ void resetPidProfile(pidProfile_t *pidProfile)
.afcs_pitch_accel_min = 60, // maximal negative Z accel value *10
.afcs_wing_load = 560, // wing load (mass / WingArea) g/decimeter^2 * 10. The g/decimeter^2 units is more comfortable for perception, than kg/m^2, i think
.afcs_air_density = 1225, // The current atmosphere air density [mg/m^3], the MSA 1225 g/m^3 value is default. TODO: Dynamical air density computing by using baro sensors data
.afcs_lift_c_limit = 12, // Limit aerodinamics lift force coefficient value *10
.afcs_lift_c_limit = 15, // Limit aerodinamics lift force coefficient value *10
.afcs_aoa_limiter_gain = 250, // elevator speed for 0.1 lift force coef difference in %/sec *10
.afcs_servo_time = 90, // minimal time of servo movement from neutrale to maximum, ms
.afcs_roll_yaw_clift_start = 8, // Aerodynamics lift force coef to start yaw control for roll rotation *10
.afcs_roll_yaw_clift_stop = 15, // Aerodynamics lift force coef to maximum yaw control for roll rotation *10
.afcs_roll_to_yaw_link = 0, // The maximal yaw control value to support roll rotation, % *10
#endif
);
}