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ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned.

This commit is contained in:
Jason Short 2012-03-13 10:23:12 -07:00
parent 0edc1020ac
commit 72d03a8046
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/config.h
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@ -677,13 +677,13 @@
// Loiter Navigation control gains
//
#ifndef LOITER_RATE_P
# define LOITER_RATE_P 2.0 //
# define LOITER_RATE_P 3.0 //
#endif
#ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.10 // Wind control
# define LOITER_RATE_I 0.20 // Wind control
#endif
#ifndef LOITER_RATE_D
# define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1
# define LOITER_RATE_D 0 // try 2 or 3 for LOITER_RATE 1
#endif
#ifndef LOITER_RATE_IMAX
# define LOITER_RATE_IMAX 30 // degrees