Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 02:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

ACM: config.h = updated default gains

Browse Source 
More yaw rate control
This commit is contained in:
Jason Short 2012-08-09 16:48:38 -07:00
parent b5156185cc
commit 3e57f8afd8
1 changed files with 22 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
ArduCopter/config.h
View File

@ -76,6 +76,10 @@
#ifndef FRAME_ORIENTATION
# define FRAME_ORIENTATION X_FRAME
#endif
#ifndef TOY_EDF
# define TOY_EDF DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// IMU Selection
@ -690,33 +694,33 @@
// Stabilize Rate Control
//
#ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.18
# define RATE_ROLL_P 0.185
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.0
#endif
#ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.005
# define RATE_ROLL_D 0.008
#endif
#ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 5.0 // degrees
#endif
#ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.18
# define RATE_PITCH_P 0.185
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.0
#endif
#ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.005
# define RATE_PITCH_D 0.008
#endif
#ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 5.0 // degrees
#endif
#ifndef RATE_YAW_P
# define RATE_YAW_P .13
# define RATE_YAW_P .25
#endif
#ifndef RATE_YAW_I
# define RATE_YAW_I 0.02
@ -811,7 +815,7 @@
# define ALT_HOLD_P 0.3 // .5
#endif
#ifndef ALT_HOLD_I
# define ALT_HOLD_I 0.038
# define ALT_HOLD_I 0.04
#endif
#ifndef ALT_HOLD_IMAX
# define ALT_HOLD_IMAX 300
@ -825,7 +829,7 @@
# define THROTTLE_I 0.03
#endif
#ifndef THROTTLE_D
# define THROTTLE_D 0.0 //
# define THROTTLE_D 0.0
#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 300