AP_SCripting: update VTOL QuickTune to allow YAW FLTE = 0

ArduPilot · Apr 2, 2024 · 59b7d32 · 59b7d32
1 parent b904ab2
commit 59b7d32
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/libraries/AP_Scripting/applets/VTOL-quicktune.lua b/libraries/AP_Scripting/applets/VTOL-quicktune.lua
@@ -298,7 +298,7 @@ function setup_filters(axis)
    adjust_gain(fltd, INS_GYRO_FILTER:get() * FLTD_MUL)
    if axis == "YAW" then
       local FLTE = params[flte]
-      if FLTE:get() <= 0.0 or FLTE:get() > YAW_FLTE_MAX then
+      if FLTE:get() < 0.0 or FLTE:get() > YAW_FLTE_MAX then
          adjust_gain(flte, YAW_FLTE_MAX)
       end
    end

diff --git a/libraries/AP_Scripting/applets/VTOL-quicktune.md b/libraries/AP_Scripting/applets/VTOL-quicktune.md
@@ -121,6 +121,8 @@ Install the lua script in the APM/SCRIPTS directory on the flight
 controllers microSD card, then set SCR_ENABLE to 1. Reboot, and
 refresh parameters. Then set QUIK_ENABLE to 1.
 
+IF vectored yaw ((tilt rotors) or TVBS tailsitter(motors on tilting servos), set Q_A_RAT_YAW_FLTE = 0 before running yaw tuning.
+
 You will then need to setup a 3 position switch on an available RC
 input channel for controlling the tune (or 2 position if you set
 QUIK_AUTO_SAVE). If for example channel 6 is available with a 3