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AP_SCripting: update VTOL QuickTune to allow YAW FLTE = 0 #26673

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Apr 8, 2024
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AP_SCripting: update VTOL QuickTune to allow YAW FLTE = 0 #26673

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2 changes: 1 addition & 1 deletion libraries/AP_Scripting/applets/VTOL-quicktune.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -298,7 +298,7 @@ function setup_filters(axis)
adjust_gain(fltd, INS_GYRO_FILTER:get() * FLTD_MUL)
if axis == "YAW" then
local FLTE = params[flte]
if FLTE:get() <= 0.0 or FLTE:get() > YAW_FLTE_MAX then
if FLTE:get() < 0.0 or FLTE:get() > YAW_FLTE_MAX then
adjust_gain(flte, YAW_FLTE_MAX)
end
end
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2 changes: 2 additions & 0 deletions libraries/AP_Scripting/applets/VTOL-quicktune.md
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Expand Up @@ -121,6 +121,8 @@ Install the lua script in the APM/SCRIPTS directory on the flight
controllers microSD card, then set SCR_ENABLE to 1. Reboot, and
refresh parameters. Then set QUIK_ENABLE to 1.

IF vectored yaw ((tilt rotors) or TVBS tailsitter(motors on tilting servos), set Q_A_RAT_YAW_FLTE = 0 before running yaw tuning.

You will then need to setup a 3 position switch on an available RC
input channel for controlling the tune (or 2 position if you set
QUIK_AUTO_SAVE). If for example channel 6 is available with a 3
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