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Better Tuning for default Quad

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This commit is contained in:
Jason Short 2011-09-22 18:30:29 -07:00
parent 3444b7fdca
commit 45f9ab05f8
1 changed files with 10 additions and 10 deletions
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20
ArduCopter/config.h
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@ -403,43 +403,43 @@
// Attitude Control // Attitude Control
// //
#ifndef STABILIZE_ROLL_P #ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.0 # define STABILIZE_ROLL_P 4.2
#endif #endif
#ifndef STABILIZE_ROLL_I #ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.02 # define STABILIZE_ROLL_I 0.008
#endif #endif
#ifndef STABILIZE_ROLL_IMAX #ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 1.5 // degrees # define STABILIZE_ROLL_IMAX 3 // degrees
#endif #endif
#ifndef STABILIZE_PITCH_P #ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.0 # define STABILIZE_PITCH_P 4.2
#endif #endif
#ifndef STABILIZE_PITCH_I #ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.02 # define STABILIZE_PITCH_I 0.008
#endif #endif
#ifndef STABILIZE_PITCH_IMAX #ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 1.5 // degrees # define STABILIZE_PITCH_IMAX 3 // degrees
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Rate Control // Rate Control
// //
#ifndef RATE_ROLL_P #ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.13 # define RATE_ROLL_P 0.14
#endif #endif
#ifndef RATE_ROLL_I #ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.0 # define RATE_ROLL_I 0.18
#endif #endif
#ifndef RATE_ROLL_IMAX #ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 15 // degrees # define RATE_ROLL_IMAX 15 // degrees
#endif #endif
#ifndef RATE_PITCH_P #ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.13 # define RATE_PITCH_P 0.14
#endif #endif
#ifndef RATE_PITCH_I #ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.0 # define RATE_PITCH_I 0.18
#endif #endif
#ifndef RATE_PITCH_IMAX #ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 15 // degrees # define RATE_PITCH_IMAX 15 // degrees