From b76c4ecb228a79a93cd7125f6e9d34f5a979f051 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Tue, 28 Feb 2012 20:13:36 -0800 Subject: [PATCH] added stab_d gain scheduling --- ArduCopter/Parameters.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index ea7f91f255..2692e44ac7 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -171,6 +171,7 @@ public: // // 220: PI/D Controllers // + k_param_stabilize_d_schedule = 219, k_param_stabilize_d = 220, k_param_acro_p, k_param_axis_lock_p, @@ -296,6 +297,7 @@ public: AP_Float camera_pitch_gain; AP_Float camera_roll_gain; AP_Float stabilize_d; + AP_Float stabilize_d_schedule; // PI/D controllers AP_Float acro_p; @@ -402,6 +404,7 @@ public: camera_pitch_gain (CAM_PITCH_GAIN), camera_roll_gain (CAM_ROLL_GAIN), stabilize_d (STABILIZE_D), + stabilize_d_schedule (STABILIZE_D_SCHEDULE), acro_p (ACRO_P), axis_lock_p (AXIS_LOCK_P),