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Copter: reduce autotune min rate D to 0.002

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Randy Mackay 2013-12-09 14:17:31 +09:00
parent 450e9e83c3
commit 145a8ed128
1 changed files with 1 additions and 1 deletions
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ArduCopter/auto_tune.pde
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@ -33,7 +33,7 @@
#define AUTO_TUNE_SP_BACKOFF 0.75f // back off on the Stab P tune #define AUTO_TUNE_SP_BACKOFF 0.75f // back off on the Stab P tune
#define AUTO_TUNE_PI_RATIO_FOR_TESTING 0.1f // I is set 10x smaller than P during testing #define AUTO_TUNE_PI_RATIO_FOR_TESTING 0.1f // I is set 10x smaller than P during testing
#define AUTO_TUNE_RP_RATIO_FINAL 1.0f // I is set 1x P after testing #define AUTO_TUNE_RP_RATIO_FINAL 1.0f // I is set 1x P after testing
#define AUTO_TUNE_RD_MIN 0.004f // minimum Rate D value #define AUTO_TUNE_RD_MIN 0.002f // minimum Rate D value
#define AUTO_TUNE_RD_MAX 0.015f // maximum Rate D value #define AUTO_TUNE_RD_MAX 0.015f // maximum Rate D value
#define AUTO_TUNE_RP_MIN 0.01f // minimum Rate P value #define AUTO_TUNE_RP_MIN 0.01f // minimum Rate P value
#define AUTO_TUNE_RP_MAX 0.25f // maximum Rate P value #define AUTO_TUNE_RP_MAX 0.25f // maximum Rate P value