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ACM: Updated config values

This commit is contained in:
Jason Short 2012-03-06 22:12:24 -08:00
parent 34cf1e8fb3
commit 5117ddff26
1 changed files with 15 additions and 15 deletions
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30
ArduCopter/config.h
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@ -578,7 +578,7 @@
# define STABILIZE_ROLL_P 4.5 # define STABILIZE_ROLL_P 4.5
#endif #endif
#ifndef STABILIZE_ROLL_I #ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.0 # define STABILIZE_ROLL_I 0.1
#endif #endif
#ifndef STABILIZE_ROLL_IMAX #ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 40 // degrees # define STABILIZE_ROLL_IMAX 40 // degrees
@ -588,7 +588,7 @@
# 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 0.0 # define STABILIZE_PITCH_I 0.1
#endif #endif
#ifndef STABILIZE_PITCH_IMAX #ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 40 // degrees # define STABILIZE_PITCH_IMAX 40 // degrees
@ -615,7 +615,7 @@
# define RATE_ROLL_I 0.0 # define RATE_ROLL_I 0.0
#endif #endif
#ifndef RATE_ROLL_D #ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.002 # define RATE_ROLL_D 0.000 //.002
#endif #endif
#ifndef RATE_ROLL_IMAX #ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 5 // degrees # define RATE_ROLL_IMAX 5 // degrees
@ -628,7 +628,7 @@
# define RATE_PITCH_I 0.0 # define RATE_PITCH_I 0.0
#endif #endif
#ifndef RATE_PITCH_D #ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.002 # define RATE_PITCH_D 0.00
#endif #endif
#ifndef RATE_PITCH_IMAX #ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 5 // degrees # define RATE_PITCH_IMAX 5 // degrees
@ -641,7 +641,7 @@
# define RATE_YAW_I 0.0 # define RATE_YAW_I 0.0
#endif #endif
#ifndef RATE_YAW_D #ifndef RATE_YAW_D
# define RATE_YAW_D .000 # define RATE_YAW_D 0.000
#endif #endif
#ifndef RATE_YAW_IMAX #ifndef RATE_YAW_IMAX
# define RATE_YAW_IMAX 50 // degrees # define RATE_YAW_IMAX 50 // degrees
@ -649,18 +649,18 @@
#ifndef STABILIZE_D #ifndef STABILIZE_D
# define STABILIZE_D 0.1 # define STABILIZE_D 0.15
#endif #endif
#ifndef STABILIZE_D_SCHEDULE #ifndef STABILIZE_D_SCHEDULE
# define STABILIZE_D_SCHEDULE 0.0 # define STABILIZE_D_SCHEDULE 0.5
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Loiter control gains // Loiter control gains
// //
#ifndef LOITER_P #ifndef LOITER_P
# define LOITER_P .8 # define LOITER_P .4
#endif #endif
#ifndef LOITER_I #ifndef LOITER_I
# define LOITER_I 0.0 # define LOITER_I 0.0
@ -677,10 +677,10 @@
#endif #endif
#ifndef LOITER_RATE_P #ifndef LOITER_RATE_P
# define LOITER_RATE_P 3.5 // # define LOITER_RATE_P 3.0 //
#endif #endif
#ifndef LOITER_RATE_I #ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.2 // Wind control # define LOITER_RATE_I 0.25 // Wind control
#endif #endif
#ifndef LOITER_RATE_D #ifndef LOITER_RATE_D
# define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1 # define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1
@ -693,10 +693,10 @@
// WP Navigation control gains // WP Navigation control gains
// //
#ifndef NAV_P #ifndef NAV_P
# define NAV_P 3.5 // # define NAV_P 3.0 //
#endif #endif
#ifndef NAV_I #ifndef NAV_I
# define NAV_I 0.2 // Wind control # define NAV_I 0.25 // Wind control
#endif #endif
#ifndef NAV_D #ifndef NAV_D
# define NAV_D 0.00 // # define NAV_D 0.00 //
@ -727,10 +727,10 @@
#endif #endif
#ifndef ALT_HOLD_P #ifndef ALT_HOLD_P
# define ALT_HOLD_P 0.4 // # define ALT_HOLD_P 0.2 //
#endif #endif
#ifndef ALT_HOLD_I #ifndef ALT_HOLD_I
# define ALT_HOLD_I 0.04 # define ALT_HOLD_I 0.015
#endif #endif
#ifndef ALT_HOLD_IMAX #ifndef ALT_HOLD_IMAX
# define ALT_HOLD_IMAX 300 # define ALT_HOLD_IMAX 300
@ -738,7 +738,7 @@
// RATE control // RATE control
#ifndef THROTTLE_P #ifndef THROTTLE_P
# define THROTTLE_P 0.35 // # define THROTTLE_P 0.45 //
#endif #endif
#ifndef THROTTLE_I #ifndef THROTTLE_I
# define THROTTLE_I 0.0 // # define THROTTLE_I 0.0 //