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How to control yaw rate and yaw accel in auto?

Posted by Andy Fabian on July 3, 2016 at 7:30am

I think the title pretty much says it all.  I'd like to control the yaw acceleration particularly, and the yaw rate while in auto missions.  Seems like there must be a parameter for this, but I can't find it.

Edit: maybe a bug?  I've found these:

ATC_ACCEL_Y_MAX: "Maximum acceleration in yaw axis"

ATC_SLEW_YAW: "Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes"

They definitely have an effect in loiter mode - if I set my ATC_ACCEL_Y_MAX really low, I see extremely slow yaw acceleration.  However with the same setting, if I got into auto mode I get sharp yaw movements again. 

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Replies

  • Javier Cerna July 6, 2017 at 11:17am

    I know this thread is a year old, but I was trying to figure out the difference as well, and I found the answer in the code changelog:

    3702386158?profile=original

    So, ATC_ACCEL_Y_MAX controls the max acceleration in manual flight modes, while ATC_SLEW_YAW controls the yaw speed in auto missions.

    Hope it helps!

    • Mehmet OKMEN > Javier Cerna May 18, 2021 at 4:03am
      It helped a lot. Thank you so much. Thanks, Thanks, Thanks, Thanks, Thanks, Thanks, Thanks,
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