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ArduCopter: increase accel based throttle PIDs and add D term to rate based throttle

This commit is contained in:
rmackay9 2012-12-17 14:46:30 +09:00
parent d4b73e7b07
commit 68d6eee1e7
1 changed files with 6 additions and 4 deletions
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10
ArduCopter/config.h
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@ -877,7 +877,7 @@
#endif
#ifndef ALT_HOLD_P
# define ALT_HOLD_P 0.5
# define ALT_HOLD_P 1.0
#endif
#ifndef ALT_HOLD_I
# define ALT_HOLD_I 0.0
@ -894,12 +894,14 @@
# define THROTTLE_I 0.0
#endif
#ifndef THROTTLE_D
# define THROTTLE_D 0.0
# define THROTTLE_D 0.2
#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 300
#endif
// minimum and maximum climb rates while in alt hold mode
#ifndef ALTHOLD_MAX_CLIMB_RATE
# define ALTHOLD_MAX_CLIMB_RATE 250
@ -914,10 +916,10 @@
// Throttle Accel control
#ifndef THROTTLE_ACCEL_P
# define THROTTLE_ACCEL_P 0.5
# define THROTTLE_ACCEL_P 0.75
#endif
#ifndef THROTTLE_ACCEL_I
# define THROTTLE_ACCEL_I 1
# define THROTTLE_ACCEL_I 1.50
#endif
#ifndef THROTTLE_ACCEL_D
# define THROTTLE_ACCEL_D 0.0