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Sub: Change default depth control parameters

This commit is contained in:
Jacob Walser 2016-12-08 15:53:50 -05:00 committed by Andrew Tridgell
parent 21b5309e5d
commit 3ddb714e20
1 changed files with 4 additions and 4 deletions
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8
ArduSub/config.h
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@ -555,13 +555,13 @@
# define ACCEL_Z_P 0.50f
#endif
#ifndef ACCEL_Z_I
# define ACCEL_Z_I 1.00f
# define ACCEL_Z_I 0.0f
#endif
#ifndef ACCEL_Z_D
# define ACCEL_Z_D 0.0f
#endif
#ifndef ACCEL_Z_IMAX
# define ACCEL_Z_IMAX 800
# define ACCEL_Z_IMAX 0
#endif
#ifndef ACCEL_Z_FILT_HZ
# define ACCEL_Z_FILT_HZ 20.0f
@ -569,10 +569,10 @@
// default maximum vertical velocity and acceleration the pilot may request
#ifndef PILOT_VELZ_MAX
# define PILOT_VELZ_MAX 50 // maximum vertical velocity in cm/s
# define PILOT_VELZ_MAX 500 // maximum vertical velocity in cm/s
#endif
#ifndef PILOT_ACCEL_Z_DEFAULT
# define PILOT_ACCEL_Z_DEFAULT 50 // vertical acceleration in cm/s/s while altitude is under pilot control
# define PILOT_ACCEL_Z_DEFAULT 100 // vertical acceleration in cm/s/s while altitude is under pilot control
#endif
// max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode