Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Arducopter: INS 

Updated INS gains
This commit is contained in:
Jason Short 2012-07-18 11:15:07 -07:00
parent 0d8e8e0a04
commit 97845cace1
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduCopter/APM_Config.h
View File

@ -47,18 +47,18 @@
#if INERTIAL_NAV == ENABLED
#define ALT_HOLD_P 0.5
#define ALT_HOLD_I 0.007
#define ALT_HOLD_P 3
#define ALT_HOLD_I 0
#define ALT_HOLD_IMAX 300
// RATE control
#define THROTTLE_P 3 //
#define THROTTLE_I 0.5 // Don't edit
#define THROTTLE_P 5 //
#define THROTTLE_I 0.4 //
#define THROTTLE_D 0.0 //
#define LOITER_P 0.50
#define LOITER_I 0.0
#define LOITER_RATE_P 5 //
#define LOITER_RATE_P 5 //
#define LOITER_RATE_I 0.1 // Wind control
#define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1
#endif