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Better Tuning for default Quad

This commit is contained in:
Jason Short 2011-09-22 18:30:29 -07:00
parent 669daa9321
commit cfd2c31fb2
1 changed files with 10 additions and 10 deletions
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20
ArduCopter/config.h
View File

@ -403,43 +403,43 @@
// Attitude Control
//
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.0
# define STABILIZE_ROLL_P 4.2
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.02
# define STABILIZE_ROLL_I 0.008
#endif
#ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 1.5 // degrees
# define STABILIZE_ROLL_IMAX 3 // degrees
#endif
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.0
# define STABILIZE_PITCH_P 4.2
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.02
# define STABILIZE_PITCH_I 0.008
#endif
#ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 1.5 // degrees
# define STABILIZE_PITCH_IMAX 3 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// Rate Control
//
#ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.13
# define RATE_ROLL_P 0.14
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.0
# define RATE_ROLL_I 0.18
#endif
#ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 15 // degrees
#endif
#ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.13
# define RATE_PITCH_P 0.14
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.0
# define RATE_PITCH_I 0.18
#endif
#ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 15 // degrees