From b7c536f8f114b4c4d1edfa1f36a2c1d59ceee8fc Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 25 Nov 2024 11:24:04 +1100 Subject: [PATCH] AP_Quicktune: adjust defaults change QWIK_ANGLE_MAX to 10. this is a very conservative value, we may raise it based on user feedback. Lower the default SMAX to 4 to be a bit more conservative for larger vehicles --- libraries/AP_Quicktune/AP_Quicktune.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Quicktune/AP_Quicktune.cpp b/libraries/AP_Quicktune/AP_Quicktune.cpp index d179a5e9db017..c8c5e5a5e573c 100644 --- a/libraries/AP_Quicktune/AP_Quicktune.cpp +++ b/libraries/AP_Quicktune/AP_Quicktune.cpp @@ -61,7 +61,7 @@ const AP_Param::GroupInfo AP_Quicktune::var_info[] = { // @Description: Threshold for oscillation detection. A lower value will lead to a more conservative tune. // @Range: 1 10 // @User: Standard - AP_GROUPINFO("OSC_SMAX", 5, AP_Quicktune, osc_smax, 5), + AP_GROUPINFO("OSC_SMAX", 5, AP_Quicktune, osc_smax, 4), // @Param: YAW_P_MAX // @DisplayName: Quicktune Yaw P max @@ -122,10 +122,10 @@ const AP_Param::GroupInfo AP_Quicktune::var_info[] = { // @Param: ANGLE_MAX // @DisplayName: maximum angle error for tune abort - // @Description: If while tuning the angle error goes over this limit then the tune will aborts + // @Description: If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing. If you get an error "Quicktune: attitude error ABORTING" and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK_DOUBLE_TIME to do the tune more slowly. // @Units: deg // @User: Standard - AP_GROUPINFO("ANGLE_MAX", 14, AP_Quicktune, angle_max, 15), + AP_GROUPINFO("ANGLE_MAX", 14, AP_Quicktune, angle_max, 10), AP_GROUPEND };