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ArduCopter: move I terms from stabilize to rate controllers

This commit is contained in:
rmackay9 2012-10-10 15:55:14 +09:00
parent be25e75d75
commit 94d16d426f
1 changed files with 5 additions and 9 deletions
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14
ArduCopter/config.h
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@ -665,7 +665,7 @@
# define STABILIZE_ROLL_P 4.5
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.05
# define STABILIZE_ROLL_I 0.0
#endif
#ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 8.0 // degrees
@ -675,7 +675,7 @@
# define STABILIZE_PITCH_P 4.5
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.05
# define STABILIZE_PITCH_I 0.0
#endif
#ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 8.0 // degrees
@ -685,7 +685,7 @@
# define STABILIZE_YAW_P 4.5 // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif
#ifndef STABILIZE_YAW_I
# define STABILIZE_YAW_I 0.02
# define STABILIZE_YAW_I 0.0
#endif
#ifndef STABILIZE_YAW_IMAX
# define STABILIZE_YAW_IMAX 8.0 // degrees * 100
@ -699,7 +699,7 @@
# define RATE_ROLL_P 0.175
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.0
# define RATE_ROLL_I 0.02
#endif
#ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.004
@ -712,7 +712,7 @@
# define RATE_PITCH_P 0.175
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.0
# define RATE_PITCH_I 0.02
#endif
#ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.004
@ -986,10 +986,6 @@
# define USE_CURRENT_ALT FALSE
#endif
#ifndef CUT_MOTORS
# define CUT_MOTORS 1 // do we cut the motors with no throttle?
#endif
//////////////////////////////////////////////////////////////////////////////
// RC override
//