From 59b7d3262f1f0ac906db54630fa0b2b4857d9b9d Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Tue, 2 Apr 2024 10:56:22 -0500 Subject: [PATCH] AP_SCripting: update VTOL QuickTune to allow YAW FLTE = 0 --- libraries/AP_Scripting/applets/VTOL-quicktune.lua | 2 +- libraries/AP_Scripting/applets/VTOL-quicktune.md | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_Scripting/applets/VTOL-quicktune.lua b/libraries/AP_Scripting/applets/VTOL-quicktune.lua index e5b7b0e999e03..79d6af069ac83 100644 --- 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 index c172aa3043b8c..3a4120b1a1873 100644 --- 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