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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
This commit is contained in:
jasonshort 2011-02-07 05:59:10 +00:00
parent cc61eafd8b
commit 48bbb0d00c
1 changed files with 6 additions and 6 deletions
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12
ArduCopterMega/setup.pde
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@ -670,35 +670,35 @@ default_gains()
// acro, angular rate // acro, angular rate
pid_acro_rate_roll.kP(ACRO_RATE_ROLL_P); pid_acro_rate_roll.kP(ACRO_RATE_ROLL_P);
pid_acro_rate_roll.kI(ACRO_RATE_ROLL_I); 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_roll.imax(ACRO_RATE_ROLL_IMAX * 100);
pid_acro_rate_pitch.kP(ACRO_RATE_PITCH_P); pid_acro_rate_pitch.kP(ACRO_RATE_PITCH_P);
pid_acro_rate_pitch.kI(ACRO_RATE_PITCH_I); 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_pitch.imax(ACRO_RATE_PITCH_IMAX * 100);
pid_acro_rate_yaw.kP(ACRO_RATE_YAW_P); pid_acro_rate_yaw.kP(ACRO_RATE_YAW_P);
pid_acro_rate_yaw.kI(ACRO_RATE_YAW_I); 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); pid_acro_rate_yaw.imax(ACRO_RATE_YAW_IMAX * 100);
// stabilize, angle error // stabilize, angle error
pid_stabilize_roll.kP(STABILIZE_ROLL_P); pid_stabilize_roll.kP(STABILIZE_ROLL_P);
pid_stabilize_roll.kI(STABILIZE_ROLL_I); 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_roll.imax(STABILIZE_ROLL_IMAX * 100);
pid_stabilize_pitch.kP(STABILIZE_PITCH_P); pid_stabilize_pitch.kP(STABILIZE_PITCH_P);
pid_stabilize_pitch.kI(STABILIZE_PITCH_I); 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); pid_stabilize_pitch.imax(STABILIZE_PITCH_IMAX * 100);
// YAW hold // YAW hold
pid_yaw.kP(YAW_P); pid_yaw.kP(YAW_P);
pid_yaw.kI(YAW_I); pid_yaw.kI(YAW_I);
pid_yaw.kD(YAW_D); pid_yaw.kD(0);
pid_yaw.imax(YAW_IMAX * 100); pid_yaw.imax(YAW_IMAX * 100);