Yes, I believe those values are correct (without looking it up in the code).
Waypoint flying with helicopters is best done with splines and don’t use regular or “fast” waypoints. If you want smoother flying on the waypoints.
If the WPNAV_NAV_ACCEL is set to actually hit waypoints fairly close at speed, the accelerations involved with stopping or slowing down are quite brutal. The controller assumes multi-rotor type response, it will jerk the nose of the heli up which for a helicopter puts it into a climb, cause it to dump off all the collective, and recoil like it hit a brick wall.
Not exactly the smoothest experience.
So, if you switch to using all spline waypoints (takes a bit of practice to learn how to lay these out), that will make the flight more suitable for a heli. Remember that splines are in 3D space so if you have one spline waypoint at maybe 70 ft altitude, set a second one at 30, set a third at 100, these are all spaced maybe a 1/4 mile apart, you will likely experience CFIT at the second waypoint. This is due to the way splines are calculated.
Personally, for my work, I cannot use the stock copter code as it’s not smooth enough. I have modified behavior in the code I fly for speed changes and allowing the autopilot to bring the heli to a stop on waypoint flights. While this works great for heli, it is not all that great for multicopters so it is not accepted into mainstream release.
I did PR part of it for a complaint with multicopters:
But I have further modifications for heli’s in this build.
I just added another change to that when I discovered a few days ago that going to throttle hold in Pos Hold dumps the collective and smashes your helicopter into the ground (thankfully I was only at 2 feet altitude) faster than you can switch flight modes to get out of it. Even if you are at 100 feet and go to throttle hold it dumps the pitch so fast that it blows all your headspeed and switching to Acro to get out of it involves nosing down 45 degrees (now at 2000 ft/min descent rate) to get enough airspeed to bring the rotor back.
So this is not great.
It’s not even really fun with a 27 lb helicopter.
At this point I don’t know the reason that was done. I intend to find out. But in the mean time it is not acceptable for me.
So I fixed that hairy ordeal.