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ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100.

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also changed heli_ext_gyro_gain to make it use the tuning range directly.
This commit is contained in:
rmackay9 2012-03-31 09:28:25 +09:00
parent e0bb7e2777
commit 75d7308fb4
1 changed files with 1 additions and 2 deletions
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3
ArduCopter/ArduCopter.pde
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@ -2024,7 +2024,6 @@ static void tuning(){
break;
case CH6_RATE_KD:
tuning_value = (float)g.rc_6.control_in / 100000.0;
g.pid_rate_roll.kD(tuning_value);
g.pid_rate_pitch.kD(tuning_value);
break;
@ -2127,7 +2126,7 @@ static void tuning(){
#if FRAME_CONFIG == HELI_FRAME
case CH6_HELI_EXTERNAL_GYRO:
g.heli_ext_gyro_gain = tuning_value * 1000;
g.heli_ext_gyro_gain = tuning_value;
break;
#endif