Copter PILOT_ACCEL_Z, WPNAV_ACCEL_Z params

[Randy Mackay]

 

     In AC master you’ll find there are two new parameters, PILOT_ACCEL_Z and WPNAV_ACCEL_Z which allow you to set the vertical acceleration in cm/s/s.  All feedback welcome.

 

     PILOT_ACCEL_Z defaults to 250 (i.e. 2.5m/s/s) and is for AltHold, Loiter, Hybrid and sport.  I.e. modes where the pilot is controlling the altitude.  It doesn’t affect Stabilize, Acro where the pilot controls the throttle directly.

     WPNAV_ACCEL_Z defaults to 100 (i.e. 1m/s/s) and is for Auto, Guided, LAND and RTL modes.  I.e. when the autopilot controls the altitude.

 

     I suspect that people won’t notice difference except that the vehicle may take a little longer to reach maximum vertical speed in the auto modes so maybe takeoffs will be a little slower.  I think the rule of thumb is that the acceleration should never be higher than 500 (5m/s/s) and never higher than the equivalent speed.

 

     By the way, this was done as part of the velocity initialisation work to fix the bug Holger found a couple of days ago when his vehicle tried to “land” at 10m/s.  Sorry Holger!

-Randy

[Holger Steinhaus]

Hi Randy,

sounds very promising! Can't wait to give it a try after I am back home on Monday. I always missed a configurable acceleration, especially when flying with higher max climb/sink speeds and trying to stop fast climbs or descends precisely at a certain altitude.

I will also watch out for any position discrepancies between INAV and EKF, but if its really related to the memory corruption issue, it's probably impossible to reproduce.

Holger