I want to finish the waypoint mission as fast as possible. The first thing I’m looking for is to disable 5 m/s2 limit in WPNAV_ACCEL parameter. Or can I just set WPNAV_ACCEL like 15 m/s2 or something? It says it has a range of 50-500 cm/s2 in the full parameters list but can I just pass the 500 limit and set it like 1500?
You can set it to whatever you like, the hard limit in the code is 1G ie 980 cm/s2.
Now I see.
#define POSCONTROL_ACCEL_XY_MAX 980.0f
Will changing this work? I’m just asking, 9.8m/s2 is already enough but I want to know
Btw, this acceleration value is valid in braking too, right? Or do I need to change LOIT_BRK_ACCEL or something?
Sort of, there are also angle limits and such that will stop you going past 45 deg.
Yeah its both acceleration and braking.
Do you mean PSC_ANGLE_MAX and ANGLE_MAX or is there something else I should see in the code?
Both, there are hard limits in the code at 45 also a soft limit based on remaining throttle. You get much past 55 and the altitude controller starts to break.
What about WPNAV_SPEED? Wiki says 20 m/s max, can I just write 30 m/s in parameters list or is there a limitation in the code?
I’m familiar with buiding the code btw that won’t be a problem.
Hi Pete, I couldn’t see any bank angle limitations in the code for copter (4.1.0-dev). Can you tell me how is the limit applied?
So I can increase that limit by %50 by changing 100.0f to 150.f at the end of line 848, is that right? Just asking for reference.
sure, obviously there will be a true vehicle limitation there somewhere if you increase it past that bad things will start to happen.