Recommended Changes
Inspired Flight aircraft run a standard installation of Ardupilot, with custom parameter tuning from Inspired Flight.
We have noticed that the default yaw rate in survey modes is very slow, and can require exceptional distance to fully complete a yaw for standard surveys. The parameter that controls yaw rate in autonomous flight modes is called ATC_SLEW_YAW, and only affects Auto and RTL flight modes.
In factory setup, the value of ATC_SLEW_YAW is set to 2000 cdeg/s (20 degrees per second). With the default value of 2000 cdeg/s, the aircraft yaws very slowly in autonomous flight modes, to the point that the aircraft does not resolve it’s heading on the flight line for a long distance. With the default yaw rate, our line-scan hyperspectral sensors need massive extra “turnaround distance” set in flight plans in order to effectively operate as they need this heading fully on course before they begin capturing data after a turn to a new flight line. Obviously this extra distance required with the default value significantly limits survey coverage ability.
With significant testing time from GRYFN, confirmation and approval from Inspired Flight that this parameter is safe to change with no adverse effects on the aircraft, GRYFN is recommending that our users modify the value of the ATC_SLEW_YAW parameter. Updating the ATC_SLEW_YAW parameter to our recommended value significantly improves the yaw rate in autonomous flight modes, and allows all users, but especially line-scan camera users, to adhere to our recommended practices for standard amounts of turnaround distance/overshoot.
GRYFN recommends our users modify this value to 6000 cdeg/s, which is also the standard rate for new Ardupilot firmware, confirmed and tested to be safe for both the IF1200(A) and IF800 aircraft.
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Turn on RC transmitter
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Power IF1200A aircraft
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Connect RC transmitter to laptop/desktop
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Open QGroundControl on laptop
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Click Settings -> Vehicle Setup
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Click Parameters
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Search for ATC_SLEW_YAW
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Change value to 6000 cdeg/s
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Save
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Change should take effect for next missions
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