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paparazzi · Sep 25, 2016 · 2ee3a26 · 2ee3a26
1 parent 6e10bd8
commit 2ee3a26
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/conf/airframes/TUDELFT/tudelft_outback.xml b/conf/airframes/TUDELFT/tudelft_outback.xml
@@ -200,7 +200,7 @@
     <define name="NAV_DESCEND_VSPEED" value="-1.5"/>
     <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
     <define name="MilliAmpereOfAdc(_adc)" value="(DefaultMilliAmpereOfAdc(_adc) + 417)"/>
-    <define name="OUTBACK_P_ON_Q_COUPLING" value="6.0"/>
+    <define name="OUTBACK_P_ON_Q_COUPLING" value="0.0"/>
     <define name="OUTBACK_Q_ON_P_COUPLING" value="0.0"/>
     <define name="OUTBACK_GROUND_PITCH_CONTROL_GAIN" value="70000.0"/>
     <define name="OUTBACK_MIN_HOVER_THROTTLE" value="4000"/>

diff --git a/conf/airframes/TUDELFT/tudelft_outback_v2.xml b/conf/airframes/TUDELFT/tudelft_outback_v2.xml
@@ -202,7 +202,7 @@
     <define name="NAV_DESCEND_VSPEED" value="-1.5"/>
     <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
     <define name="MilliAmpereOfAdc(_adc)" value="(DefaultMilliAmpereOfAdc(_adc) + 417 - 2000)"/>
-    <define name="OUTBACK_P_ON_Q_COUPLING" value="6.0"/>
+    <define name="OUTBACK_P_ON_Q_COUPLING" value="0.0"/>
     <define name="OUTBACK_Q_ON_P_COUPLING" value="0.0"/>
     <define name="OUTBACK_GROUND_PITCH_CONTROL_GAIN" value="70000.0"/>
     <define name="OUTBACK_MIN_HOVER_THROTTLE" value="4000"/>

diff --git a/sw/airborne/modules/helicopter/swashplate_mixing.c b/sw/airborne/modules/helicopter/swashplate_mixing.c
@@ -85,7 +85,7 @@ void swashplate_mixing_run(pprz_t in_cmd[])
   int16_t cmd_roll;
   int16_t cmd_pitch;
 
-  float compensation_angle_p = 0.733;//(radio_control.values[8]+9600.0)/(2*9600.0)*1.2472;
+  float compensation_angle_p = 0.9042;//(radio_control.values[8]+9600.0)/(2*9600.0)*1.2472;
   float compensation_angle_q = 0;//(radio_control.values[9]+9600.0)/(2*9600.0)*1.0472;
   //float compensation_angle = 0.733;