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Updated Configs based on field testing.

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This commit is contained in:
Jason Short 2011-12-30 23:37:01 -08:00
parent 15a377d759
commit c7f93f8718
2 changed files with 6 additions and 7 deletions
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1
ArduCopter/ArduCopter.pde
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@ -367,7 +367,6 @@ static const float radius_of_earth = 6378100; // meters
static const float gravity = 9.81; // meters/ sec^2 static const float gravity = 9.81; // meters/ sec^2
static int32_t target_bearing; // deg * 100 : 0 to 360 location of the plane to the target static int32_t target_bearing; // deg * 100 : 0 to 360 location of the plane to the target
static int32_t nav_bearing; // deg * 100 : 0 to 360 location of the plane to the target static int32_t nav_bearing; // deg * 100 : 0 to 360 location of the plane to the target
static int32_t home_bearing; // used to track difference in angle static int32_t home_bearing; // used to track difference in angle
static byte wp_control; // used to control - navgation or loiter static byte wp_control; // used to control - navgation or loiter

12
ArduCopter/config.h
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@ -508,7 +508,7 @@
#ifndef STABILIZE_D #ifndef STABILIZE_D
# define STABILIZE_D .25 # define STABILIZE_D .2
#endif #endif
// Jasons default values that are good for smaller payload motors. // Jasons default values that are good for smaller payload motors.
@ -606,17 +606,17 @@
// Navigation control gains // Navigation control gains
// //
#ifndef LOITER_P #ifndef LOITER_P
# define LOITER_P .2 // .3 was too aggressive # define LOITER_P .25 //
#endif #endif
#ifndef LOITER_I #ifndef LOITER_I
# define LOITER_I 0.05 // Wind control # define LOITER_I 0.1 // Wind control
#endif #endif
#ifndef LOITER_IMAX #ifndef LOITER_IMAX
# define LOITER_IMAX 30 // degrees° # define LOITER_IMAX 30 // degrees°
#endif #endif
#ifndef NAV_P #ifndef NAV_P
# define NAV_P 1.5 // 3 was causing rapid oscillations in Loiter # define NAV_P 2.2 // 3 was causing rapid oscillations in Loiter
#endif #endif
#ifndef NAV_I #ifndef NAV_I
# define NAV_I 0.15 // used in traverals # define NAV_I 0.15 // used in traverals
@ -649,7 +649,7 @@
// RATE control // RATE control
#ifndef THROTTLE_P #ifndef THROTTLE_P
# define THROTTLE_P 0.4 // # define THROTTLE_P 0.5 //
#endif #endif
#ifndef THROTTLE_I #ifndef THROTTLE_I
# define THROTTLE_I 0.0 // # define THROTTLE_I 0.0 //
@ -663,7 +663,7 @@
// Crosstrack compensation // Crosstrack compensation
// //
#ifndef CROSSTRACK_GAIN #ifndef CROSSTRACK_GAIN
# define CROSSTRACK_GAIN 40 # define CROSSTRACK_GAIN 1
#endif #endif