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Code Issues Wiki Activity

Changed centidegrees to decidegrees in comments and docs

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Airwide 2020-11-05 08:47:52 +01:00
parent 364630f0b8
commit 8b1f7e3b13
4 changed files with 4 additions and 4 deletions
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2
docs/Settings.md
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@ -272,7 +272,7 @@
| nav_fw_min_thr | 1200 | Minimum throttle for flying wing in GPS assisted modes |
| nav_fw_pitch2thr | 10 | Amount of throttle applied related to pitch attitude in GPS assisted modes. Throttle = nav_fw_cruise_throttle - (nav_fw_pitch2thr * pitch_angle). (notice that pitch_angle is in degrees and is negative when climbing and positive when diving, and throttle value is constrained between nav_fw_min_thr and nav_fw_max_thr) |
| nav_fw_pitch2thr_smoothing | 1 | Number of fixedWingPitchToThrottleCorrection cycles used to calculate a moving average pitch |
| nav_fw_pitch2thr_threshold | 0 | Threshold from average pitch before nav_fw_pitch2thr is applied [centidegrees] |
| nav_fw_pitch2thr_threshold | 0 | Threshold from average pitch before nav_fw_pitch2thr is applied [decidegrees] |
| nav_fw_pos_hdg_d | 0 | D gain of heading trajectory PID controller. (Fixedwing, rovers, boats) |
| nav_fw_pos_hdg_i | 0 | I gain of heading trajectory PID controller. (Fixedwing, rovers, boats) |
| nav_fw_pos_hdg_p | 60 | P gain of heading PID controller. (Fixedwing, rovers, boats) |

2
src/main/fc/settings.yaml
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@ -2267,7 +2267,7 @@ groups:
min: 1
max: 4096
- name: nav_fw_pitch2thr_threshold
description: "Threshold from zero pitch before pitch_to_throttle is applied [centidegrees]"
description: "Threshold from zero pitch before pitch_to_throttle is applied [decidegrees]"
default_value: "0"
field: fw.pitch_to_throttle_thresh
min: 0

2
src/main/navigation/navigation.c
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@ -153,7 +153,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.min_throttle = 1200,
.pitch_to_throttle = 10, // pwm units per degree of pitch (10pwm units ~ 1% throttle)
.pitch_to_throttle_smooth = 1, // Number of fixedWingPitchToThrottleCorrection cycles used to calculate a moving average pitch
.pitch_to_throttle_thresh = 0, // Threshold from average pitch before pitch_to_throttle is applied [centidegrees]
.pitch_to_throttle_thresh = 0, // Threshold from average pitch before pitch_to_throttle is applied [decidegrees]
.loiter_radius = 5000, // 50m
//Fixed wing landing

2
src/main/navigation/navigation.h
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@ -223,7 +223,7 @@ typedef struct navConfig_s {
uint16_t max_throttle; // Maximum allowed throttle in auto mode
uint8_t pitch_to_throttle; // Pitch angle (in deg) to throttle gain (in 1/1000's of throttle) (*10)
uint16_t pitch_to_throttle_smooth; // Number of fixedWingPitchToThrottleCorrection cycles used to calculate a moving average pitch
uint8_t pitch_to_throttle_thresh; // Threshold from zero pitch before pitch_to_throttle is applied [centidegrees]
uint8_t pitch_to_throttle_thresh; // Threshold from zero pitch before pitch_to_throttle is applied [decidegrees]
uint16_t loiter_radius; // Loiter radius when executing PH on a fixed wing
int8_t land_dive_angle;
uint16_t launch_velocity_thresh; // Velocity threshold for swing launch detection