From e121c0ac9301bd6cb73802e5356b946745bbcb60 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Fri, 10 May 2024 10:33:14 -0500 Subject: [PATCH] 4.6:add Q _BCK_PIT_LIM --- plane/source/docs/quadplane-parameters.rst | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/plane/source/docs/quadplane-parameters.rst b/plane/source/docs/quadplane-parameters.rst index 932b39af97..7007717a29 100644 --- a/plane/source/docs/quadplane-parameters.rst +++ b/plane/source/docs/quadplane-parameters.rst @@ -28,7 +28,13 @@ Key Parameters quad motors). Please be careful not to use hard left rudder and zero throttle while flying or you risk disarming your motors. - The default :ref:`SCHED_LOOP_RATE` for a QuadPlane is to 300 (Hz). Most QuadPlanes do not need this to be rasied. Some very small vehicles (< 1Kg) might benefit from setting it to 400. In heavier vehicles, their higher inertia results in lower effective control response rates, so they do not benefit from a higher loop rate. Raising above 300 only leads to larger log files in these vehicles. -- The pitch and roll limits in VTOL modes are controlled by the lesser of :ref:`Q_ANGLE_MAX`, or the fixed wing limits (:ref:`PTCH_LIM_MAX_DEG`, :ref:`PTCH_LIM_MIN_DEG`, and :ref:` ROLL_LIMIT_DEG`), but conformance to only :ref:`Q_ANGLE_MAX` can be controlled with :ref:`Q_OPTIONS` bit 14. + +Attitude Limiting Parameters +---------------------------- + +The pitch and roll limits in VTOL modes are controlled by the lesser of :ref:`Q_ANGLE_MAX`, or the fixed wing limits (:ref:`PTCH_LIM_MAX_DEG`, :ref:`PTCH_LIM_MIN_DEG`, and :ref:` ROLL_LIMIT_DEG`), but conformance to only :ref:`Q_ANGLE_MAX` can be controlled with :ref:`Q_OPTIONS` bit 14. + +In addition, :ref:`Q_BCK_PIT_LIM` sets the maximum number of degrees of back or pitch up in Q modes when the airspeed is at :ref:`AIRSPEED_MIN`, and is used to prevent excessive structural loads when pitching up to decelerate. The backwards/up pitch limit controlled by this parameter is in addition to limiting applied by the params above. The :ref:`Q_BCK_PIT_LIM` limit is only applied when :ref:`Q_FWD_THR_USE` is set to 1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of forward tilt to generate forward speed. A value 0 to deactivates this limit. .. _return_behavior_setup: