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ACM: Lowered gains from flight tests today with 3DR Quad

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Jason Short 2012-03-17 11:03:56 -07:00
parent 7560242721
commit 491af02d8a
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/config.h
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@ -664,7 +664,7 @@
// Loiter control gains // Loiter control gains
// //
#ifndef LOITER_P #ifndef LOITER_P
# define LOITER_P .7 # define LOITER_P .35
#endif #endif
#ifndef LOITER_I #ifndef LOITER_I
# define LOITER_I 0.0 # define LOITER_I 0.0
@ -680,7 +680,7 @@
# define LOITER_RATE_P 2.0 // # define LOITER_RATE_P 2.0 //
#endif #endif
#ifndef LOITER_RATE_I #ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.30 // Wind control # define LOITER_RATE_I 0.2 // Wind control
#endif #endif
#ifndef LOITER_RATE_D #ifndef LOITER_RATE_D
# define LOITER_RATE_D 0 // try 2 or 3 for LOITER_RATE 1 # define LOITER_RATE_D 0 // try 2 or 3 for LOITER_RATE 1