From 48bbb0d00c0f3e7fea5b986fafc7839360d2a44a Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 7 Feb 2011 05:59:10 +0000
Subject: [PATCH] setup 0 default for d term where there was a conflict with
 external dampeners

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1606 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/setup.pde | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/ArduCopterMega/setup.pde b/ArduCopterMega/setup.pde
index 4af5dd969f..f131a45c40 100644
--- a/ArduCopterMega/setup.pde
+++ b/ArduCopterMega/setup.pde
@@ -670,35 +670,35 @@ default_gains()
 	// acro, angular rate
 	pid_acro_rate_roll.kP(ACRO_RATE_ROLL_P);
 	pid_acro_rate_roll.kI(ACRO_RATE_ROLL_I);
-	pid_acro_rate_roll.kD(ACRO_RATE_ROLL_D);
+	pid_acro_rate_roll.kD(0);
 	pid_acro_rate_roll.imax(ACRO_RATE_ROLL_IMAX * 100);
 	
 	pid_acro_rate_pitch.kP(ACRO_RATE_PITCH_P);
 	pid_acro_rate_pitch.kI(ACRO_RATE_PITCH_I);
-	pid_acro_rate_pitch.kD(ACRO_RATE_PITCH_D);
+	pid_acro_rate_pitch.kD(0);
 	pid_acro_rate_pitch.imax(ACRO_RATE_PITCH_IMAX * 100);
 
 	pid_acro_rate_yaw.kP(ACRO_RATE_YAW_P);
 	pid_acro_rate_yaw.kI(ACRO_RATE_YAW_I);
-	pid_acro_rate_yaw.kD(ACRO_RATE_YAW_D);
+	pid_acro_rate_yaw.kD(0);
 	pid_acro_rate_yaw.imax(ACRO_RATE_YAW_IMAX * 100);
 
 
 	// stabilize, angle error
 	pid_stabilize_roll.kP(STABILIZE_ROLL_P);
 	pid_stabilize_roll.kI(STABILIZE_ROLL_I);
-	pid_stabilize_roll.kD(STABILIZE_ROLL_D);
+	pid_stabilize_roll.kD(0);
 	pid_stabilize_roll.imax(STABILIZE_ROLL_IMAX * 100);
 		
 	pid_stabilize_pitch.kP(STABILIZE_PITCH_P);
 	pid_stabilize_pitch.kI(STABILIZE_PITCH_I);
-	pid_stabilize_pitch.kD(STABILIZE_PITCH_D);
+	pid_stabilize_pitch.kD(0);
 	pid_stabilize_pitch.imax(STABILIZE_PITCH_IMAX * 100);
 
 	// YAW hold
 	pid_yaw.kP(YAW_P);
 	pid_yaw.kI(YAW_I);
-	pid_yaw.kD(YAW_D);
+	pid_yaw.kD(0);
 	pid_yaw.imax(YAW_IMAX * 100);