Posted by Erik Graham on August 18, 2015 at 3:11pm
Does anyone know what WPNAV_LOIT_JERK is?http://copter.ardupilot.com/wiki/arducopter-parameters/#wpnav__parametersThe only description there is, "Loiter maximum jerk in cm/s/s/s"As a follow up, why are the following Params prefixed with "WPNAV" ?Based on their descriptions, they don't seem to be directly related to Way Point Navigation in missions, but rather are Params that effect general behavior in Loiter, whether running a mission or not.WPNAV_LOIT_JERKWPNAV_LOIT_MAXAWPNAV_LOIT_MINA
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It limits the maximum change in acceleration horizontally. So acceleration is really lean angle (when we're talking about horizontal position control) so that parameter essentially limits how quickly the lean angle can change in Loiter. So if you make it very low the vehicle will start leaning very slowly.
Those parameter start with WPNAV_ because they're all part of the waypoint navigation library. The waypoint navigation and loiter share a lot of features so it made sense to put them together.
Replies
Erik,
It limits the maximum change in acceleration horizontally. So acceleration is really lean angle (when we're talking about horizontal position control) so that parameter essentially limits how quickly the lean angle can change in Loiter. So if you make it very low the vehicle will start leaning very slowly.
Those parameter start with WPNAV_ because they're all part of the waypoint navigation library. The waypoint navigation and loiter share a lot of features so it made sense to put them together.