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ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle

This commit is contained in:
rmackay9 2012-12-17 14:46:30 +09:00 committed by Andrew Tridgell
parent 41cc1c74d8
commit 34e18ae12a
1 changed files with 6 additions and 4 deletions
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10
ArduCopter/config.h
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@ -893,7 +893,7 @@
#endif #endif
#ifndef ALT_HOLD_P #ifndef ALT_HOLD_P
# define ALT_HOLD_P 0.5 # define ALT_HOLD_P 1.0
#endif #endif
#ifndef ALT_HOLD_I #ifndef ALT_HOLD_I
# define ALT_HOLD_I 0.0 # define ALT_HOLD_I 0.0
@ -910,12 +910,14 @@
# define THROTTLE_I 0.0 # define THROTTLE_I 0.0
#endif #endif
#ifndef THROTTLE_D #ifndef THROTTLE_D
# define THROTTLE_D 0.0 # define THROTTLE_D 0.2
#endif #endif
#ifndef THROTTLE_IMAX #ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 300 # define THROTTLE_IMAX 300
#endif #endif
// minimum and maximum climb rates while in alt hold mode // minimum and maximum climb rates while in alt hold mode
#ifndef ALTHOLD_MAX_CLIMB_RATE #ifndef ALTHOLD_MAX_CLIMB_RATE
# define ALTHOLD_MAX_CLIMB_RATE 250 # define ALTHOLD_MAX_CLIMB_RATE 250
@ -930,10 +932,10 @@
// Throttle Accel control // Throttle Accel control
#ifndef THROTTLE_ACCEL_P #ifndef THROTTLE_ACCEL_P
# define THROTTLE_ACCEL_P 0.5 # define THROTTLE_ACCEL_P 0.75
#endif #endif
#ifndef THROTTLE_ACCEL_I #ifndef THROTTLE_ACCEL_I
# define THROTTLE_ACCEL_I 1 # define THROTTLE_ACCEL_I 1.50
#endif #endif
#ifndef THROTTLE_ACCEL_D #ifndef THROTTLE_ACCEL_D
# define THROTTLE_ACCEL_D 0.0 # define THROTTLE_ACCEL_D 0.0