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ACM: config.h = updated default gains 

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
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40
ArduCopter/config.h
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@ -29,9 +29,9 @@
/// change in your local copy of APM_Config.h.
///
#ifdef USE_CMAKE_APM_CONFIG
#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
#else
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
#endif
@ -76,6 +76,10 @@
#ifndef FRAME_ORIENTATION
# define FRAME_ORIENTATION X_FRAME
#endif
#ifndef TOY_EDF
# define TOY_EDF DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// IMU Selection
@ -339,8 +343,8 @@
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included
#define OPTFLOW_ENABLED
#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included
#define OPTFLOW_ENABLED
#endif
#ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI)
# define OPTFLOW DISABLED
@ -356,25 +360,25 @@
#endif
// optical flow based loiter PI values
#ifndef OPTFLOW_ROLL_P
#define OPTFLOW_ROLL_P 2.5
#define OPTFLOW_ROLL_P 2.5
#endif
#ifndef OPTFLOW_ROLL_I
#define OPTFLOW_ROLL_I 3.2
#define OPTFLOW_ROLL_I 3.2
#endif
#ifndef OPTFLOW_ROLL_D
#define OPTFLOW_ROLL_D 0.12
#define OPTFLOW_ROLL_D 0.12
#endif
#ifndef OPTFLOW_PITCH_P
#define OPTFLOW_PITCH_P 2.5
#define OPTFLOW_PITCH_P 2.5
#endif
#ifndef OPTFLOW_PITCH_I
#define OPTFLOW_PITCH_I 3.2
#define OPTFLOW_PITCH_I 3.2
#endif
#ifndef OPTFLOW_PITCH_D
#define OPTFLOW_PITCH_D 0.12
#define OPTFLOW_PITCH_D 0.12
#endif
#ifndef OPTFLOW_IMAX
#define OPTFLOW_IMAX 4
#define OPTFLOW_IMAX 4
#endif
@ -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