Overview

The ANGLE parameter group is a mixed category containing angle-related limits for different vehicle types.

Note: The parameters here serve completely different functions depending on whether you are flying a Multicopter or sailing a Boat.

Key Concepts

1. Copter Bank Limit (ANGLE_MAX)

This is the Global Lean Angle Limit for ArduCopter in all stabilized modes (Loiter, AltHold, Auto, RTL, PosHold, Drift).

• Function: It clamps the maximum pitch and roll angle the autopilot will ever command.
• Safety: Prevents the copter from banking so steeply that it loses altitude (insufficient vertical thrust component).
• Performance: Higher angles = Faster top speed in GPS modes (Speed = sqrt(tan(Angle) * g * Radius)).

2. Sailboat Configuration (ANGLE_IDEAL, ANGLE_MIN)

(ArduRover - Sailboats Only)
These parameters configure the automated sail winch control.

• ANGLE_IDEAL: The optimal angle of attack for the mainsail to generate thrust.
• ANGLE_MIN: The tightest angle the sail can physically be pulled in (close-hauled limit).

Parameter Breakdown

Copter

• ANGLE_MAX: Maximum lean angle in centi-degrees (e.g., 4500 = 45 degrees).

Rover (Sailboat)

• ANGLE_IDEAL: Ideal sail angle (deg).
• ANGLE_MIN: Minimum sail angle (deg).

Integration Guide

Tuning Copter Speed

1. Default: 45 degrees (ANGLE_MAX = 4500). Good for most camera drones.
2. Fast Flight: Increase to 55-60 degrees for high-speed autonomous missions (ensure your T/W ratio is > 2:1).
3. Filming: Decrease to 25-30 degrees for very smooth, slow movements.

Tuning Sailboats

1. Bench Test: Verify winch movement limits.
2. Set Limits: Ensure ANGLE_MIN prevents the boom from hitting the shrouds or superstructure.

Developer Notes

• Copter: ANGLE_MAX is a GSCALAR in ArduCopter/Parameters.cpp.
• Rover: ANGLE_IDEAL is defined in Rover/sailboat.cpp.