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Disabled I term for yaw. not working right. 

Changes log step default to zero by recommendation from John C. Not sure why it works, Compiler should init to 0 by default.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2362 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-20 17:08:04 +00:00
parent 9241691b44
commit 707210a514
2 changed files with 4 additions and 4 deletions
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4
ArduCopterMega/Log.pde
View File

@ -190,7 +190,7 @@ byte get_num_logs(void)
{ {
int page = 1; int page = 1;
byte data; byte data;
byte log_step; byte log_step = 0;
DataFlash.StartRead(1); DataFlash.StartRead(1);
@ -269,7 +269,7 @@ void get_log_boundaries(byte num_logs, byte log_num, int & start_page, int & end
{ {
int page = 1; int page = 1;
byte data; byte data;
byte log_step; byte log_step = 0;
DataFlash.StartRead(1); DataFlash.StartRead(1);
while (page == 1) { while (page == 1) {

4
ArduCopterMega/config.h
View File

@ -350,13 +350,13 @@
# define YAW_P 0.4 // increase for more aggressive Yaw Hold, decrease if it's bouncy # define YAW_P 0.4 // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif #endif
#ifndef YAW_I #ifndef YAW_I
# define YAW_I 0.01 // increased to .1 to try and get over user's steady state error caused by poor balance # define YAW_I 0.00 // increased to .1 to try and get over user's steady state error caused by poor balance
#endif #endif
#ifndef YAW_D #ifndef YAW_D
# define YAW_D 0.13 // Trying a lower value to prevent odd behavior # define YAW_D 0.13 // Trying a lower value to prevent odd behavior
#endif #endif
#ifndef YAW_IMAX #ifndef YAW_IMAX
# define YAW_IMAX 500 // Always 0 # define YAW_IMAX 0 // Always 0
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////