Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ACM: Softer Loiter Gains

This commit is contained in:
Jason Short 2012-03-16 14:09:10 -07:00
parent 234a5dc65e
commit 09995aed62
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/config.h
View File

@ -664,7 +664,7 @@
// Loiter control gains // Loiter control gains
// //
#ifndef LOITER_P #ifndef LOITER_P
# define LOITER_P .3 # define LOITER_P .7
#endif #endif
#ifndef LOITER_I #ifndef LOITER_I
# define LOITER_I 0.0 # define LOITER_I 0.0
@ -677,10 +677,10 @@
// Loiter Navigation control gains // Loiter Navigation control gains
// //
#ifndef LOITER_RATE_P #ifndef LOITER_RATE_P
# define LOITER_RATE_P 3.0 // # define LOITER_RATE_P 2.0 //
#endif #endif
#ifndef LOITER_RATE_I #ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.20 // Wind control # define LOITER_RATE_I 0.30 // Wind control
#endif #endif
#ifndef LOITER_RATE_D #ifndef LOITER_RATE_D
# define LOITER_RATE_D 0 // try 2 or 3 for LOITER_RATE 1 # define LOITER_RATE_D 0 // try 2 or 3 for LOITER_RATE 1