Adjusted gains to move closer to Marco's tests

This commit is contained in:
Jason Short 2012-02-16 22:19:39 -08:00
parent 24ce02c6a4
commit b052dab80d

View File

@ -555,7 +555,7 @@
#ifndef STABILIZE_D #ifndef STABILIZE_D
# define STABILIZE_D .06 # define STABILIZE_D .2
#endif #endif
@ -567,7 +567,7 @@
// Good for smaller payload motors. // Good for smaller payload motors.
#ifndef STABILIZE_ROLL_P #ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.5 # define STABILIZE_ROLL_P 4
#endif #endif
#ifndef STABILIZE_ROLL_I #ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.0 # define STABILIZE_ROLL_I 0.0
@ -577,7 +577,7 @@
#endif #endif
#ifndef STABILIZE_PITCH_P #ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.5 # define STABILIZE_PITCH_P 4
#endif #endif
#ifndef STABILIZE_PITCH_I #ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0 # define STABILIZE_PITCH_I 0.0
@ -587,7 +587,7 @@
#endif #endif
#ifndef STABILIZE_YAW_P #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 #endif
#ifndef STABILIZE_YAW_I #ifndef STABILIZE_YAW_I
# define STABILIZE_YAW_I 0.01 # define STABILIZE_YAW_I 0.01
@ -601,26 +601,26 @@
// Stabilize Rate Control // Stabilize Rate Control
// //
#ifndef RATE_ROLL_P #ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.14 # define RATE_ROLL_P 0.12
#endif #endif
#ifndef RATE_ROLL_I #ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.18 # define RATE_ROLL_I 0.02
#endif #endif
#ifndef RATE_ROLL_D #ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.0025 # define RATE_ROLL_D 0.008
#endif #endif
#ifndef RATE_ROLL_IMAX #ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 5 // degrees # define RATE_ROLL_IMAX 5 // degrees
#endif #endif
#ifndef RATE_PITCH_P #ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.14 # define RATE_PITCH_P 0.12
#endif #endif
#ifndef RATE_PITCH_I #ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.18 # define RATE_PITCH_I 0.02
#endif #endif
#ifndef RATE_PITCH_D #ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.0025 # define RATE_PITCH_D 0.008
#endif #endif
#ifndef RATE_PITCH_IMAX #ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 5 // degrees # define RATE_PITCH_IMAX 5 // degrees