From a2ea053c908f97758ad5f0ffa29be437fe2037b5 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 11 Jul 2013 08:09:49 +0900 Subject: [PATCH] Copter: default Loiter Pos P to 0.8 (was 0.2) --- ArduCopter/ReleaseNotes.txt | 2 +- ArduCopter/config.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 9054bdc3ce..3f780be423 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -7,7 +7,7 @@ Improvements over 3.0.1-rc1 a) double flash arming light when pre-arm checks fail b) relax mag field checks to 35% min, 165% max of expected field 3) loiter and auto changes: - a) reduced Loiter Pos P to 0.2 (was 1.0) + a) reduced Loiter Pos P to 0.8 (was 1.0) b) reduced Loiter speed to 5 m/s c) reduced WP_ACCEL to 1 m/s/s (was 250 m/s/s) d) rounding error fix in loiter controller diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 28a34cf2bb..88747e7e60 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -873,7 +873,7 @@ // Loiter position control gains // #ifndef LOITER_P - # define LOITER_P 0.2f + # define LOITER_P 0.8f #endif #ifndef LOITER_I # define LOITER_I 0.0f