From 34e18ae12a2451831114a1b1b3a7968c9b442c90 Mon Sep 17 00:00:00 2001 From: rmackay9 Date: Mon, 17 Dec 2012 14:46:30 +0900 Subject: [PATCH] ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle --- ArduCopter/config.h | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 50603f4cf1..c8fa3771a5 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -893,7 +893,7 @@ #endif #ifndef ALT_HOLD_P - # define ALT_HOLD_P 0.5 + # define ALT_HOLD_P 1.0 #endif #ifndef ALT_HOLD_I # define ALT_HOLD_I 0.0 @@ -910,12 +910,14 @@ # define THROTTLE_I 0.0 #endif #ifndef THROTTLE_D - # define THROTTLE_D 0.0 + # define THROTTLE_D 0.2 #endif + #ifndef THROTTLE_IMAX # define THROTTLE_IMAX 300 #endif + // minimum and maximum climb rates while in alt hold mode #ifndef ALTHOLD_MAX_CLIMB_RATE # define ALTHOLD_MAX_CLIMB_RATE 250 @@ -930,10 +932,10 @@ // Throttle Accel control #ifndef THROTTLE_ACCEL_P - # define THROTTLE_ACCEL_P 0.5 + # define THROTTLE_ACCEL_P 0.75 #endif #ifndef THROTTLE_ACCEL_I - # define THROTTLE_ACCEL_I 1 + # define THROTTLE_ACCEL_I 1.50 #endif #ifndef THROTTLE_ACCEL_D # define THROTTLE_ACCEL_D 0.0