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Added new gain and clamp value for DCM

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This commit is contained in:
Jason Short 2011-12-03 17:55:11 -08:00
parent 54c8e1033c
commit 0d8071a401
1 changed files with 2 additions and 1 deletions
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3
ArduCopter/system.pde
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@ -343,10 +343,11 @@ static void init_ardupilot()
reset_control_switch(); reset_control_switch();
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
dcm.kp_roll_pitch(0.030000); dcm.kp_roll_pitch(0.130000);
dcm.ki_roll_pitch(0.00001278), // 50 hz I term dcm.ki_roll_pitch(0.00001278), // 50 hz I term
dcm.kp_yaw(0.08); dcm.kp_yaw(0.08);
dcm.ki_yaw(0.00004); dcm.ki_yaw(0.00004);
dcm._clamp = 5;
#endif #endif
// init the Z damopener // init the Z damopener