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Plane: integrate AC_Loiter param change to use meters

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Randy Mackay
2026-01-28 09:11:29 +09:00
parent b82ba7ac73
commit 96e21e9589
1 changed files with 7 additions and 4 deletions
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11
ArduPlane/quadplane.cpp
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@@ -593,10 +593,10 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
{ "Q_A_RATE_Y_MAX", 75.0 },
{ "Q_M_SPOOL_TIME", 0.25 },
{ "Q_LOIT_ANG_MAX", 15.0 },
{ "Q_LOIT_ACC_MAX", 250.0 },
{ "Q_LOIT_BRK_ACCEL", 50.0 },
{ "Q_LOIT_BRK_JERK", 250 },
{ "Q_LOIT_SPEED", 500 },
{ "Q_LOIT_ACC_MAX_M", 2.50 },
{ "Q_LOIT_BRK_ACC_M", 0.5 },
{ "Q_LOIT_BRK_JRK_M", 2.5 },
{ "Q_LOIT_SPEED_MS", 5.0 },
{ "Q_WP_SPEED", 500 },
{ "Q_WP_ACCEL", 100 },
{ "Q_P_JERK_NE", 2 },
@@ -831,6 +831,9 @@ bool QuadPlane::setup(void)
// upgrade position controller parameters added Dec 2025
pos_control->convert_parameters();
// upgrade loiter navigation parameters
loiter_nav->convert_parameters();
// Provisionally assign the SLT thrust type.
// It will be overwritten by tailsitter or tiltorotor setups.
thrust_type = ThrustType::SLT;