From 531a9f4f25307377d51bcad5b8ff252d5429e58f Mon Sep 17 00:00:00 2001 From: Robert Lefebvre Date: Sun, 15 Dec 2013 09:15:44 -0500 Subject: [PATCH] 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. --- ArduCopter/config.h | 29 ++++++++++++++++------------- 1 file changed, 16 insertions(+), 13 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 9f27548e41..7c92e8c9e8 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -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 /////////////////////////////////////////////////////////////////////////////////