From 9bc4328724af7a7da1b42380f61a6e2b734ec564 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 19 Nov 2011 13:59:15 -0800 Subject: [PATCH] Added crosstrack gain and lowered alt hold rate gain --- ArduCopter/config.h | 20 +++----------------- 1 file changed, 3 insertions(+), 17 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index a3a4a6d6e8..e1f0b07ffb 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -519,7 +519,7 @@ // RATE control #ifndef THROTTLE_P -# define THROTTLE_P 1.0 // +# define THROTTLE_P 0.6 // #endif #ifndef THROTTLE_I # define THROTTLE_I 0.0 // @@ -532,24 +532,10 @@ ////////////////////////////////////////////////////////////////////////////// // Crosstrack compensation // -#ifndef XTRACK_ENTRY_ANGLE -# define XTRACK_ENTRY_ANGLE 30 // deg +#ifndef CROSSTRACK_GAIN +# define CROSSTRACK_GAIN 4 #endif -#ifndef XTRACK_P -# define XTRACK_P 2 // trying a lower val -#endif -#ifndef XTRACK_I -# define XTRACK_I 0.00 //with 4m error, 12.5s windup -#endif -#ifndef XTRACK_D -# define XTRACK_D 0.00 // upped with filter -#endif -#ifndef XTRACK_IMAX -# define XTRACK_IMAX 10 -#endif - - ////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////