Arducopter: INS

Updated INS gains
2012-07-18 11:15:07 -07:00 · 2012-07-18 11:15:07 -07:00 · 97845cace1
parent 0d8e8e0a04
commit 97845cace1
1 changed files with 5 additions and 5 deletions
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@ -47,13 +47,13 @@


 #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