From 958a5daf24c8af0bdfa53382606c7cc3d1a8a77e Mon Sep 17 00:00:00 2001 From: Ian Frosst Date: Sat, 29 Apr 2017 20:31:46 -0400 Subject: [PATCH 1/2] Increased path buffer to 100 --- Autopilot/Path Manager/PathManager.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Autopilot/Path Manager/PathManager.h b/Autopilot/Path Manager/PathManager.h index 002f9ff..003d00b 100644 --- a/Autopilot/Path Manager/PathManager.h +++ b/Autopilot/Path Manager/PathManager.h @@ -16,7 +16,7 @@ //In Radians or (90 degrees) #define MAX_PATH_APPROACH_ANGLE PI/2 -#define PATH_BUFFER_SIZE 50 +#define PATH_BUFFER_SIZE 100 #define PATH_FREE 0 #define PATH_FULL 1 From b70a564927b936039e6c4e79cfd9cb2500b02ffa Mon Sep 17 00:00:00 2001 From: Ian Frosst Date: Sun, 30 Apr 2017 00:23:21 -0400 Subject: [PATCH 2/2] Modified controller parameter to match values from flight --- Autopilot/AttitudeManager/FixedWing.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Autopilot/AttitudeManager/FixedWing.c b/Autopilot/AttitudeManager/FixedWing.c index 58a11c9..7be6ab8 100644 --- a/Autopilot/AttitudeManager/FixedWing.c +++ b/Autopilot/AttitudeManager/FixedWing.c @@ -25,7 +25,7 @@ int input_RC_Flap; int input_GS_Flap; float adverse_yaw_mix = 0.5; // Roll rate -> yaw rate scaling (to counter adverse yaw) -float roll_turn_mix = 5.0; // Roll angle -> pitch rate scaling (for fixed-wing turns) +float roll_turn_mix = 1.0; // Roll angle -> pitch rate scaling (for banked turns) void initialization(){ setPWM(THROTTLE_OUT_CHANNEL, MIN_PWM);