Hi Chris
So the way we decided that some users would be more comfortable flying manually with less maximum roll and pitch angle than they would be happy letting the autoplot fly. So ANGLE_MAX will be used if PSC_ANGLE_MAX is set to zero but if you set PSC_ANGLE_MAX the position controller will use it even if it is larger than ANGLE_MAX.
WPNAV_LOIT_ANGM is will only be used if it is less than the angle being used by the position controller. So the only reason to set this variable is if you want Loiters maximum commanded angle to be less than the position control maximum angle. The position control will then pass on the pilot commanded angle plus up to the PSC maximum angle to fight the wind.
So by default the Loter maximum angle is 2/3 the position controller maximum angle. This gives the position controller some additional freedom to fight the wind.
I hope that is clear. We have tried to make sensible decisions here while catering to a wide range of users.
Hi VDLJu,
I am sorry I don’t know. Randy is trying to keep them pretty regular so I don’t expect it to be a long time.
Master is kept pretty safe now days as there is a lot of work and checks done on code before it goes in. However, this is the newest and therefore most likely code to have issue. We do have an occasional bug or issue that is found in testing but this is what the master branch is for. We generally suggest that people test the code on less expensive and critical aircraft and when doing so be especially vigilant and safety aware.
Having said that Chris above is doing his testing on a 600 Heli but he is a talented pilot who is able to land the aircraft in other modes if needed.
Just be aware that Master is new and relatively untested code compared to the release code.