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Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise.

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This commit is contained in:
Jason Short 2012-07-03 17:18:33 -07:00
parent 2bc77c1020
commit 4a2e9b692d
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/config.h
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@ -632,7 +632,7 @@
# define STABILIZE_PITCH_P 4.5 # define STABILIZE_PITCH_P 4.5
#endif #endif
#ifndef STABILIZE_PITCH_I #ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.1 # define STABILIZE_PITCH_I 0.01
#endif #endif
#ifndef STABILIZE_PITCH_IMAX #ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 40 // degrees # define STABILIZE_PITCH_IMAX 40 // degrees
@ -642,7 +642,7 @@
# define STABILIZE_YAW_P 7.0 // increase for more aggressive Yaw Hold, decrease if it's bouncy # define STABILIZE_YAW_P 7.0 // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif #endif
#ifndef STABILIZE_YAW_I #ifndef STABILIZE_YAW_I
# define STABILIZE_YAW_I 0.01 # define STABILIZE_YAW_I 0.02
#endif #endif
#ifndef STABILIZE_YAW_IMAX #ifndef STABILIZE_YAW_IMAX
# define STABILIZE_YAW_IMAX 8 // degrees * 100 # define STABILIZE_YAW_IMAX 8 // degrees * 100
@ -682,7 +682,7 @@
# define RATE_YAW_P .13 # define RATE_YAW_P .13
#endif #endif
#ifndef RATE_YAW_I #ifndef RATE_YAW_I
# define RATE_YAW_I 0.0 # define RATE_YAW_I 0.02
#endif #endif
#ifndef RATE_YAW_D #ifndef RATE_YAW_D
# define RATE_YAW_D 0.000 # define RATE_YAW_D 0.000
@ -788,7 +788,7 @@
# define THROTTLE_I 0.0 // Don't edit # define THROTTLE_I 0.0 // Don't edit
#endif #endif
#ifndef THROTTLE_D #ifndef THROTTLE_D
# define THROTTLE_D 0.02 // # define THROTTLE_D 0.0 //
#endif #endif
#ifndef THROTTLE_IMAX #ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 300 # define THROTTLE_IMAX 300
@ -932,7 +932,7 @@
// Navigation defaults // Navigation defaults
// //
#ifndef WP_RADIUS_DEFAULT #ifndef WP_RADIUS_DEFAULT
# define WP_RADIUS_DEFAULT 1 # define WP_RADIUS_DEFAULT 2
#endif #endif
#ifndef LOITER_RADIUS #ifndef LOITER_RADIUS