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2.0.39

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added defines for CH7 behavior, Tweaked Loiter config based on testing by Jack.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3021 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-08-05 16:21:21 +00:00
parent 10e2eb3571
commit 6748ffd112
1 changed files with 13 additions and 5 deletions
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18
ArduCopterMega/config.h
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@ -58,6 +58,14 @@
# define SONAR_TYPE MAX_SONAR_XL
#endif
//////////////////////////////////////////////////////////////////////////////
// Acrobatics
//
#ifndef CH7_OPTION
# define CH7_OPTION DO_SET_HOVER
#endif
//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_SENSOR
@ -378,16 +386,16 @@
// Navigation control gains
//
#ifndef NAV_LOITER_P
# define NAV_LOITER_P 1.4 //
# define NAV_LOITER_P 2.4 //1.4 //
#endif
#ifndef NAV_LOITER_I
# define NAV_LOITER_I 0.015 //
# define NAV_LOITER_I 0.01 //
#endif
#ifndef NAV_LOITER_D
# define NAV_LOITER_D 1.4 //
# define NAV_LOITER_D 1.0 //1.4 //
#endif
#ifndef NAV_LOITER_IMAX
# define NAV_LOITER_IMAX 12 // degrees°
# define NAV_LOITER_IMAX 12 // degrees°
#endif
@ -420,7 +428,7 @@
# define THROTTLE_I 0.01 //with 4m error, 12.5s windup
#endif
#ifndef THROTTLE_D
# define THROTTLE_D 0.4 // upped with filter
# define THROTTLE_D 0.4 // upped with filter
#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 30