mirror of https://github.com/ArduPilot/ardupilot
ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned.
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@ -677,13 +677,13 @@
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// Loiter Navigation control gains
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//
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#ifndef LOITER_RATE_P
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# define LOITER_RATE_P 2.0 //
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# define LOITER_RATE_P 3.0 //
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#endif
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#ifndef LOITER_RATE_I
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# define LOITER_RATE_I 0.10 // Wind control
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# define LOITER_RATE_I 0.20 // Wind control
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#endif
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#ifndef LOITER_RATE_D
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# define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1
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# define LOITER_RATE_D 0 // try 2 or 3 for LOITER_RATE 1
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#endif
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#ifndef LOITER_RATE_IMAX
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# define LOITER_RATE_IMAX 30 // degrees
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