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Adjusted gains to move closer to Marco's tests

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This commit is contained in:
Jason Short 2012-02-16 22:19:39 -08:00
parent 24ce02c6a4
commit b052dab80d
1 changed files with 10 additions and 10 deletions
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20
ArduCopter/config.h
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@ -555,7 +555,7 @@
#ifndef STABILIZE_D
# define STABILIZE_D .06
# define STABILIZE_D .2
#endif
@ -567,7 +567,7 @@
// Good for smaller payload motors.
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.5
# define STABILIZE_ROLL_P 4
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.0
@ -577,7 +577,7 @@
#endif
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.5
# define STABILIZE_PITCH_P 4
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0
@ -587,7 +587,7 @@
#endif
#ifndef STABILIZE_YAW_P
# define STABILIZE_YAW_P 7.5 // increase for more aggressive Yaw Hold, decrease if it's bouncy
# define STABILIZE_YAW_P 7.0 // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif
#ifndef STABILIZE_YAW_I
# define STABILIZE_YAW_I 0.01
@ -601,26 +601,26 @@
// Stabilize Rate Control
//
#ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.14
# define RATE_ROLL_P 0.12
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.18
# define RATE_ROLL_I 0.02
#endif
#ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.0025
# define RATE_ROLL_D 0.008
#endif
#ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 5 // degrees
#endif
#ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.14
# define RATE_PITCH_P 0.12
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.18
# define RATE_PITCH_I 0.02
#endif
#ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.0025
# define RATE_PITCH_D 0.008
#endif
#ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 5 // degrees