Hi everyone,
While going through the Copter PID Controller Initial Setup documentation, I noticed what appears to be a mismatch between the values given in the text and the accompanying graph.
The documentation currently lists the following initial values for ATC_ACC_Y_MAX:
- 10-inch props: 200
- 20-inch props: 100
- 30-inch props: 90
However, the graph titled “Approximate relationship between ATC_ACCEL_Y_MAX value and props size in inches” shows values approximately around:
- 10-inch: 27,000
- 20-inch: 18,000
- 30-inch: 9,000
These values are clearly very different from the values stated in the setup instructions.
I also noticed that the parameter is currently defined with a much lower valid range, so I am unsure whether:
- the graph is incorrectly labeled,
- the graph belongs to a different parameter or an older version of the documentation,
- the graph has an incorrect scale/units, or
- there is some other explanation for the discrepancy.
I don’t want to assume that the graph values are the correct ATC_ACC_Y_MAX values, but the difference between the graph and the written documentation seems significant enough to warrant checking.
Could someone from the ArduPilot documentation/tuning team please confirm which information is correct and whether the graph or documentation needs to be updated?
I’ve attached the graph I was referring to.
Thanks!
