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

ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion

This commit is contained in:
rmackay9 2012-04-21 23:24:57 +09:00
parent c62ce95768
commit 114e6a3551
2 changed files with 3 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduCopter/ArduCopter.pde
View File

@ -2043,10 +2043,6 @@ static void tuning(){
switch(g.radio_tuning){
case CH6_DAMP:
g.stabilize_d.set(tuning_value);
break;
case CH6_RATE_KD:
g.pid_rate_roll.kD(tuning_value);
g.pid_rate_pitch.kD(tuning_value);
@ -2062,6 +2058,7 @@ static void tuning(){
g.pi_stabilize_pitch.kI(tuning_value);
break;
case CH6_DAMP:
case CH6_STABILIZE_KD:
g.stabilize_d = tuning_value;
break;

4
ArduCopter/defines.h
View File

@ -145,7 +145,7 @@
// Attitude
#define CH6_STABILIZE_KP 1
#define CH6_STABILIZE_KI 2
#define CH6_STABILIZE_KD 29
#define CH6_STABILIZE_KD 29 // duplicate with CH6_DAMP
#define CH6_YAW_KP 3
#define CH6_YAW_KI 24
// Rate
@ -172,7 +172,7 @@
// altitude controller
#define CH6_THR_HOLD_KP 14
#define CH6_Z_GAIN 15
#define CH6_DAMP 16
#define CH6_DAMP 16 // duplicate with CH6_YAW_RATE_KD
// optical flow controller
#define CH6_OPTFLOW_KP 17