Today I was doing an Auto AP mission and the Yaw rate going from one way point to another was a little harsh. I would like to have about half that yaw rate in Auto mode. I was disappointed to see that where was no NAV_YAW parameter?
I may try changing the STAB_YAW_P from 7.0 to 3.5 but I like the feel in Stable mode just the way it is.
Does anyone have any suggestions of what to tune to lower the yaw rate only during a Auto Mission? V2.6
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Replies
Sorry this isn't a user defined param.
line 1257: Arducopter.pde:
nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -60, 60);
That's a slew rate calculated at 100hz * 100 so It's 60° /s
nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -20, 20);
would be 20° per second.
Jason