Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

APM_Control: Allow autotune level 0 to actually reach the lowest entries of the autotune level table #25392

Merged
merged 1 commit into from Oct 31, 2023
Merged

APM_Control: Allow autotune level 0 to actually reach the lowest entries of the autotune level table #25392

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
2 changes: 1 addition & 1 deletion libraries/APM_Control/AP_AutoTune.cpp
View file
Open in desktop
Expand Up @@ -556,7 +556,7 @@ void AP_AutoTune::update_rmax(void)

if (level == 0) {
// this level means to keep current values of RMAX and TCONST
target_rmax = constrain_float(current.rmax_pos, 75, 720);
target_rmax = constrain_float(current.rmax_pos, 20, 720);
target_tau = constrain_float(current.tau, 0.1, 2);
} else {
target_rmax = tuning_table[level-1].rmax;
Expand Down