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TradHeli: disable AutoTune for Tradheli compile 

We need the flash space, and this probably won't work for tradheli anyway since tradheli needs most of the control from Feedforward rather than P term.  And D-term is very very bad.
This commit is contained in:
Robert Lefebvre 2013-12-15 09:15:44 -05:00 committed by Randy Mackay
parent 1db3c6e688
commit 531a9f4f25
1 changed files with 16 additions and 13 deletions
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29
ArduCopter/config.h
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@ -103,25 +103,28 @@
/////////////////////////////////////////////////////////////////////////////////
// TradHeli defaults
#if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
# define RATE_INTEGRATOR_LEAK_RATE 0.02f
# define RATE_ROLL_D 0
# define RATE_PITCH_D 0
# define HELI_PITCH_FF 0
# define HELI_ROLL_FF 0
# define HELI_YAW_FF 0
# define STABILIZE_THR THROTTLE_MANUAL_HELI
# define MPU6K_FILTER 10
# define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
# define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
# define THR_MIN_DEFAULT 0
# define RC_FAST_SPEED 125
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
# define RATE_INTEGRATOR_LEAK_RATE 0.02f
# define RATE_ROLL_D 0
# define RATE_PITCH_D 0
# define HELI_PITCH_FF 0
# define HELI_ROLL_FF 0
# define HELI_YAW_FF 0
# define STABILIZE_THR THROTTLE_MANUAL_HELI
# define MPU6K_FILTER 10
# define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
# define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
# define THR_MIN_DEFAULT 0
# define AUTOTUNE DISABLED
# ifndef HELI_CC_COMP
#define HELI_CC_COMP DISABLED
#endif
# ifndef HELI_PIRO_COMP
#define HELI_PIRO_COMP DISABLED
#endif
#endif
/////////////////////////////////////////////////////////////////////////////////