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ArduCopter: re-align defines after ifdef removal 

Re-align the defines after removal of 100Hz main loop rate.
This commit is contained in:
Lucas De Marchi 2015-05-04 19:12:19 -03:00 committed by Randy Mackay
parent 4f6c32cb35
commit b7ebff409b
1 changed files with 12 additions and 12 deletions
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18
ArduCopter/control_poshold.pde
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@ -9,15 +9,15 @@
#define POSHOLD_SPEED_0 10 // speed below which it is always safe to switch to loiter
// 400hz loop update rate
# define POSHOLD_BRAKE_TIME_ESTIMATE_MAX (600*4) // max number of cycles the brake will be applied before we switch to loiter
# define POSHOLD_BRAKE_TO_LOITER_TIMER (150*4) // Number of cycles to transition from brake mode to loiter mode. Must be lower than POSHOLD_LOITER_STAB_TIMER
# define POSHOLD_WIND_COMP_START_TIMER (150*4) // Number of cycles to start wind compensation update after loiter is engaged
# define POSHOLD_CONTROLLER_TO_PILOT_MIX_TIMER (50*4) // Set it from 100 to 200, the number of centiseconds loiter and manual commands are mixed to make a smooth transition.
# define POSHOLD_SMOOTH_RATE_FACTOR 0.0125f // filter applied to pilot's roll/pitch input as it returns to center. A lower number will cause the roll/pitch to return to zero more slowly if the brake_rate is also low.
# define POSHOLD_WIND_COMP_TIMER_10HZ 40 // counter value used to reduce wind compensation to 10hz
# define LOOP_RATE_FACTOR 4 // used to adapt PosHold params to loop_rate
# define TC_WIND_COMP 0.0025f // Time constant for poshold_update_wind_comp_estimate()
// 400hz loop update rate
#define POSHOLD_BRAKE_TIME_ESTIMATE_MAX (600*4) // max number of cycles the brake will be applied before we switch to loiter
#define POSHOLD_BRAKE_TO_LOITER_TIMER (150*4) // Number of cycles to transition from brake mode to loiter mode. Must be lower than POSHOLD_LOITER_STAB_TIMER
#define POSHOLD_WIND_COMP_START_TIMER (150*4) // Number of cycles to start wind compensation update after loiter is engaged
#define POSHOLD_CONTROLLER_TO_PILOT_MIX_TIMER (50*4) // Set it from 100 to 200, the number of centiseconds loiter and manual commands are mixed to make a smooth transition.
#define POSHOLD_SMOOTH_RATE_FACTOR 0.0125f // filter applied to pilot's roll/pitch input as it returns to center. A lower number will cause the roll/pitch to return to zero more slowly if the brake_rate is also low.
#define POSHOLD_WIND_COMP_TIMER_10HZ 40 // counter value used to reduce wind compensation to 10hz
#define LOOP_RATE_FACTOR 4 // used to adapt PosHold params to loop_rate
#define TC_WIND_COMP 0.0025f // Time constant for poshold_update_wind_comp_estimate()
// definitions that are independent of main loop rate
#define POSHOLD_STICK_RELEASE_SMOOTH_ANGLE 1800 // max angle required (in centi-degrees) after which the smooth stick release effect is applied