I have all the PID's tuned and it flies missions well. One thing that I would like to change is the fast roll rate when it starts the turn to the next waypoint. It really cranks in a lot of aileron and almost snaps to the bank angle to complete the turn. What I would like is a little slower max roll rate but I don't see a parameter for that.
I have tried larger WP radius but it just snaps to a shallower bank angle. I did try decreasing the servo roll P and that does smooth it out nicely but with that low P value it does navigate well on windy days so that's no good. I have changes the NAV period but that has no effect on the initial roll rate. NAV damping I don't have any idea what that does.
Is that just the way the firmware is designed or is there a solution? I have two airplanes with various versions of firmware and the fast roll rate is with them all. One with APM 2.5 and one with Pixhawk.
Is their any way to limit the max roll rate or roll acceleration? What am I missing?
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I did some flying this morning. 60 deg/sec was ok but 45 deg/sec was very nice and smooth. I really don't know why the default is 0 when they recommend 60 deg/sec. A value of 0 gives full aileron deflection, which is way too much for most airplanes.
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AC3.2 should be smoother in many situations including hitting waypoints and entering Auto, RTL, etc. AC3.2 is in testing but it's being held up a bit by all the developers working on getting their vehicles ready for the Sparkfun AVC.
Thanks that's exactly what I was looking for. I will give it a try.