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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
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6
ArduCopter/config.h
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@ -664,7 +664,7 @@
// Loiter control gains
//
#ifndef LOITER_P
# define LOITER_P .3
# define LOITER_P .7
#endif
#ifndef LOITER_I
# define LOITER_I 0.0
@ -677,10 +677,10 @@
// Loiter Navigation control gains
//
#ifndef LOITER_RATE_P
# define LOITER_RATE_P 3.0 //
# define LOITER_RATE_P 2.0 //
#endif
#ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.20 // Wind control
# define LOITER_RATE_I 0.30 // Wind control
#endif
#ifndef LOITER_RATE_D
# define LOITER_RATE_D 0 // try 2 or 3 for LOITER_RATE 1