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trying to improve Yaw issues. Enabled I term for yaw. This was mistakenly Imaxed to 0

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2359 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-20 05:33:35 +00:00
parent e334332682
commit 9241691b44
2 changed files with 4 additions and 5 deletions
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3
ArduCopterMega/Attitude.pde
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@ -212,12 +212,11 @@ output_yaw_with_hold(boolean hold)
// look to see if we have exited rate control properly - ie stopped turning
if(rate_yaw_flag){
// we are still in motion from rate control
if(fabs(omega.z) < .2){
if(fabs(omega.z) < .4){
clear_yaw_control();
hold = true; // just to be explicit
//Serial.print("C");
}else{
hold = false; // return to rate control until we slow down.
//Serial.print("D");
}

6
ArduCopterMega/config.h
View File

@ -347,16 +347,16 @@
// YAW Control
//
#ifndef YAW_P
# 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
#ifndef YAW_I
# define YAW_I 0.1 // increased to .1 to try and get over user's steady state error caused by poor balance
# define YAW_I 0.01 // increased to .1 to try and get over user's steady state error caused by poor balance
#endif
#ifndef YAW_D
# define YAW_D 0.13 // Trying a lower value to prevent odd behavior
#endif
#ifndef YAW_IMAX
# define YAW_IMAX 0 // Always 0
# define YAW_IMAX 500 // Always 0
#endif
//////////////////////////////////////////////////////////////////////////////