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tweaked Alt hold PIDs, loiter PIDs based on SIM testing and feedback.

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Increased distance error for loiter for faster return to center.
This commit is contained in:
Jason Short 2011-10-16 15:41:54 -07:00
parent 97670246ff
commit 9f50cd14d1
2 changed files with 8 additions and 7 deletions
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13
ArduCopter/config.h
View File

@ -441,7 +441,7 @@
// Navigation control gains
//
#ifndef LOITER_P
# define LOITER_P .5 //
# define LOITER_P .3 //
#endif
#ifndef LOITER_I
# define LOITER_I 0.0 //
@ -451,7 +451,7 @@
#endif
#ifndef NAV_P
# define NAV_P 4.0 //
# define NAV_P 3.0 //
#endif
#ifndef NAV_I
# define NAV_I 0.25 // this feels really low, 4s to move 1 degree pitch...
@ -473,15 +473,16 @@
#endif
#ifndef THR_HOLD_P
# define THR_HOLD_P 0.80 //
# define THR_HOLD_P 0.5 //
#endif
#ifndef THR_HOLD_I
# define THR_HOLD_I 0.00 // with 4m error, 12.5s windup
# define THR_HOLD_I 0.01 // with 4m error, 12.5s windup
#endif
#ifndef THR_HOLD_IMAX
# define THR_HOLD_IMAX 00
# define THR_HOLD_IMAX 300
#endif
// RATE control
#ifndef THROTTLE_P
# define THROTTLE_P 0.6 //
#endif
@ -489,7 +490,7 @@
# define THROTTLE_I 0.10 // with 4m error, 12.5s windup
#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 300
# define THROTTLE_IMAX 50
#endif

2
ArduCopter/navigation.pde
View File

@ -55,7 +55,7 @@ static void calc_location_error(struct Location *next_loc)
lat_error = next_loc->lat - current_loc.lat; // 0 - 500 = -500 pitch NORTH
}
#define NAV_ERR_MAX 400
#define NAV_ERR_MAX 800
static void calc_loiter(int x_error, int y_error)
{
x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);