From aef42ae70a9a93e9c028045db11948903b2e2d33 Mon Sep 17 00:00:00 2001
From: Davide Basso <davide.basso@skywarder.eu>
Date: Sat, 8 Mar 2025 14:47:52 +0100
Subject: [PATCH] [Parafoil] Change progressive-rotation decrement

---
 src/Parafoil/Configs/WingConfig.h                            | 2 +-
 src/Parafoil/StateMachines/WingController/WingController.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/Parafoil/Configs/WingConfig.h b/src/Parafoil/Configs/WingConfig.h
index afa6ad074..2216b2669 100644
--- a/src/Parafoil/Configs/WingConfig.h
+++ b/src/Parafoil/Configs/WingConfig.h
@@ -45,7 +45,7 @@ constexpr auto TARGET_UPDATE_RATE           = 10_hz;
 constexpr auto STRAIGHT_FLIGHT_TIMEOUT      = 15_s;
 constexpr auto PROGRESSIVE_ROTATION_TIMEOUT = 5_s;
 constexpr auto COMMAND_PERIOD               = 6_s;
-constexpr auto WING_DECREMENT               = 30_deg;
+constexpr auto WING_DECREMENT               = 20_deg;
 
 /**
  * @brief The available algorithms for the wing controller.
diff --git a/src/Parafoil/StateMachines/WingController/WingController.cpp b/src/Parafoil/StateMachines/WingController/WingController.cpp
index 3d47f9f06..e88ef98d9 100644
--- a/src/Parafoil/StateMachines/WingController/WingController.cpp
+++ b/src/Parafoil/StateMachines/WingController/WingController.cpp
@@ -498,7 +498,7 @@ void WingController::loadAlgorithms()
 
         step.timestamp = Microsecond{PROGRESSIVE_ROTATION_TIMEOUT}.value();
 
-        for (auto angle = 150_deg; angle >= 0_deg; angle -= WING_DECREMENT)
+        for (auto angle = 80_deg; angle >= 0_deg; angle -= WING_DECREMENT)
         {
             step.servo1Angle = angle;
             step.servo2Angle = 0_deg;
-- 
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