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Added Sonar throttle gains, 

new default dampening gain - STABILIZE_DAMPENER - which should be equivalent to NG.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1473 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-10 02:18:49 +00:00
parent 6c9a59541e
commit b6f8c1b6cb
1 changed files with 24 additions and 11 deletions
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35
ArduCopterMega/config.h
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@ -274,7 +274,7 @@
# define STABILIZE_ROLL_P 0.6
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.00
# define STABILIZE_ROLL_I 0.01
#endif
#ifndef STABILIZE_ROLL_D
# define STABILIZE_ROLL_D 0.0
@ -287,7 +287,7 @@
# define STABILIZE_PITCH_P 0.6
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0
# define STABILIZE_PITCH_I 0.01
#endif
#ifndef STABILIZE_PITCH_D
# define STABILIZE_PITCH_D 0.0
@ -299,7 +299,7 @@
// STABILZE RATE Control
//
#ifndef STABILIZE_DAMPENER
# define STABILIZE_DAMPENER 0.175
# define STABILIZE_DAMPENER 0.135
#endif
@ -368,17 +368,30 @@
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
#ifndef THROTTLE_P
# define THROTTLE_P 1.0
#ifndef THROTTLE_BARO_P
# define THROTTLE_BARO_P .25
#endif
#ifndef THROTTLE_I
# define THROTTLE_I 0.01
#ifndef THROTTLE_BARO_I
# define THROTTLE_BARO_I 0.1
#endif
#ifndef THROTTLE_D
# define THROTTLE_D 0.4
#ifndef THROTTLE_BARO_D
# define THROTTLE_BARO_D 0.1
#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 20
#ifndef THROTTLE_BARO_IMAX
# define THROTTLE_BARO_IMAX 150
#endif
#ifndef THROTTLE_SONAR_P
# define THROTTLE_SONAR_P .8
#endif
#ifndef THROTTLE_SONAR_I
# define THROTTLE_SONAR_I 0.3
#endif
#ifndef THROTTLE_SONAR_D
# define THROTTLE_SONAR_D 0.7
#endif
#ifndef THROTTLE_SONAR_IMAX
# define THROTTLE_SONAR_IMAX 300
#endif