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Increase default FW max bank angle from 20 to 35° #4785

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Jun 3, 2019
Merged

Increase default FW max bank angle from 20 to 35° #4785

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74 changes: 37 additions & 37 deletions src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -90,38 +90,38 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.extra_arming_safety = NAV_EXTRA_ARMING_SAFETY_ON,
.user_control_mode = NAV_GPS_ATTI,
.rth_alt_control_mode = NAV_RTH_AT_LEAST_ALT,
.rth_climb_first = 1, // Climb first, turn after reaching safe altitude
.rth_climb_ignore_emerg = 0, // Ignore GPS loss on initial climb
.rth_climb_first = 1, // Climb first, turn after reaching safe altitude
.rth_climb_ignore_emerg = 0, // Ignore GPS loss on initial climb
.rth_tail_first = 0,
.disarm_on_landing = 0,
.rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS,
.auto_overrides_motor_stop = 1,
},

// General navigation parameters
.pos_failure_timeout = 5, // 5 sec
.waypoint_radius = 100, // 2m diameter
.waypoint_safe_distance = 10000, // 100m - first waypoint should be closer than this
.max_auto_speed = 300, // 3 m/s = 10.8 km/h
.max_auto_climb_rate = 500, // 5 m/s
.pos_failure_timeout = 5, // 5 sec
.waypoint_radius = 100, // 2m diameter
.waypoint_safe_distance = 10000, // centimeters - first waypoint should be closer than this
.max_auto_speed = 300, // 3 m/s = 10.8 km/h
.max_auto_climb_rate = 500, // 5 m/s
.max_manual_speed = 500,
.max_manual_climb_rate = 200,
.land_descent_rate = 200, // 2 m/s
.land_slowdown_minalt = 500, // 5 meters of altitude
.land_slowdown_maxalt = 2000, // 20 meters of altitude
.emerg_descent_rate = 500, // 5 m/s
.min_rth_distance = 500, // If closer than 5m - land immediately
.rth_altitude = 1000, // 10m
.rth_home_altitude = 0,
.rth_abort_threshold = 50000, // 500m - should be safe for all aircraft
.max_terrain_follow_altitude = 100, // max 1m altitude in terrain following mode
.land_descent_rate = 200, // centimeters/s
.land_slowdown_minalt = 500, // altitude in centimeters
.land_slowdown_maxalt = 2000, // altitude in meters
.emerg_descent_rate = 500, // centimeters/s
.min_rth_distance = 500, // centimeters, if closer than this land immediately
.rth_altitude = 1000, // altitude in centimeters
.rth_home_altitude = 0, // altitude in centimeters
.rth_abort_threshold = 50000, // centimeters - 500m should be safe for all aircraft
.max_terrain_follow_altitude = 100, // max altitude in centimeters in terrain following mode
},

// MC-specific
.mc = {
.max_bank_angle = 30, // 30 deg
.max_bank_angle = 30, // degrees
.hover_throttle = 1500,
.auto_disarm_delay = 2000,
.auto_disarm_delay = 2000, // milliseconds - time before disarming when auto disarm is enabled and landing is confirmed
.braking_speed_threshold = 100, // Braking can become active above 1m/s
.braking_disengage_speed = 75, // Stop when speed goes below 0.75m/s
.braking_timeout = 2000, // Timeout barking after 2s
Expand All @@ -136,33 +136,33 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,

// Fixed wing
.fw = {
.max_bank_angle = 20, // 30 deg
.max_climb_angle = 20,
.max_dive_angle = 15,
.max_bank_angle = 35, // degrees
.max_climb_angle = 20, // degrees
.max_dive_angle = 15, // degrees
.cruise_throttle = 1400,
.cruise_speed = 0, // cm/s
.cruise_speed = 0, // cm/s
.max_throttle = 1700,
.min_throttle = 1200,
.pitch_to_throttle = 10, // pwm units per degree of pitch (10pwm units ~ 1% throttle)
.loiter_radius = 5000, // 50m
.pitch_to_throttle = 10, // pwm units per degree of pitch (10pwm units ~ 1% throttle)
.loiter_radius = 5000, // 50m

//Fixed wing landing
.land_dive_angle = 2, // 2 degrees dive by default
.land_dive_angle = 2, // 2 degrees dive by default

// Fixed wing launch
.launch_velocity_thresh = 300, // 3 m/s
.launch_accel_thresh = 1.9f * 981, // cm/s/s (1.9*G)
.launch_time_thresh = 40, // 40ms
.launch_velocity_thresh = 300, // 3 m/s
.launch_accel_thresh = 1.9f * 981, // cm/s/s (1.9*G)
.launch_time_thresh = 40, // 40ms
.launch_throttle = 1700,
.launch_idle_throttle = 1000, // Motor idle or MOTOR_STOP
.launch_motor_timer = 500, // ms
.launch_motor_spinup_time = 100, // ms, time to gredually increase throttle from idle to launch
.launch_min_time = 0, // ms, min time in launch mode
.launch_timeout = 5000, // ms, timeout for launch procedure
.launch_max_altitude = 0, // cm, altitude where to consider launch ended
.launch_climb_angle = 18, // 18 degrees
.launch_max_angle = 45, // 45 deg
.cruise_yaw_rate = 20, // 20dps
.launch_idle_throttle = 1000, // Motor idle or MOTOR_STOP
.launch_motor_timer = 500, // ms
.launch_motor_spinup_time = 100, // ms, time to gredually increase throttle from idle to launch
.launch_min_time = 0, // ms, min time in launch mode
.launch_timeout = 5000, // ms, timeout for launch procedure
.launch_max_altitude = 0, // cm, altitude where to consider launch ended
.launch_climb_angle = 18, // 18 degrees
.launch_max_angle = 45, // 45 deg
.cruise_yaw_rate = 20, // 20dps
.allow_manual_thr_increase = false
}
);
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