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ArduCopter - added CH6_STABILIZE_KD tuning value

This commit is contained in:
rmackay9 2012-03-29 21:09:41 +09:00
parent c1eede5ef3
commit 0efb0e5b4d
2 changed files with 5 additions and 0 deletions
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4
ArduCopter/ArduCopter.pde
View File

@ -2044,6 +2044,10 @@ static void tuning(){
g.pi_stabilize_pitch.kI(tuning_value); g.pi_stabilize_pitch.kI(tuning_value);
break; break;
case CH6_STABILIZE_KD:
g.stabilize_d = tuning_value;
break;
case CH6_ACRO_KP: case CH6_ACRO_KP:
g.acro_p = tuning_value; g.acro_p = tuning_value;
break; break;

1
ArduCopter/defines.h
View File

@ -141,6 +141,7 @@
// Attitude // Attitude
#define CH6_STABILIZE_KP 1 #define CH6_STABILIZE_KP 1
#define CH6_STABILIZE_KI 2 #define CH6_STABILIZE_KI 2
#define CH6_STABILIZE_KD 29
#define CH6_YAW_KP 3 #define CH6_YAW_KP 3
#define CH6_YAW_KI 24 #define CH6_YAW_KI 24
// Rate // Rate