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undo config change

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This commit is contained in:
Michael Oborne 2011-10-08 21:13:53 +08:00
parent a052c25899
commit d42f2e230e
2 changed files with 3 additions and 43 deletions
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44
ArduCopter/APM_Config.h
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@ -6,11 +6,11 @@
//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD //#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
//#define GCS_PROTOCOL GCS_PROTOCOL_NONE //#define GCS_PROTOCOL GCS_PROTOCOL_NONE
#define HIL_MODE HIL_MODE_ATTITUDE //#define HIL_MODE HIL_MODE_ATTITUDE
//#define BROKEN_SLIDER 0 // 1 = yes (use Yaw to enter CLI mode) //#define BROKEN_SLIDER 0 // 1 = yes (use Yaw to enter CLI mode)
#define FRAME_CONFIG HELI_FRAME #define FRAME_CONFIG QUAD_FRAME
/* /*
options: options:
QUAD_FRAME QUAD_FRAME
@ -53,43 +53,3 @@
//#define RATE_ROLL_I 0.18 //#define RATE_ROLL_I 0.18
//#define RATE_PITCH_I 0.18 //#define RATE_PITCH_I 0.18
#define AUTO_RESET_LOITER 0
#define FRAME_CONFIG HELI_FRAME
// DEFAULT PIDS
// roll
#define STABILIZE_ROLL_P 0.70
#define STABILIZE_ROLL_I 0.025
#define STABILIZE_ROLL_D 0.04
#define STABILIZE_ROLL_IMAX 7
//pitch
#define STABILIZE_PITCH_P 0.70
#define STABILIZE_PITCH_I 0.025
#define STABILIZE_PITCH_D 0.04
#define STABILIZE_PITCH_IMAX 7
// yaw stablise
#define STABILIZE_YAW_P 0.7
#define STABILIZE_YAW_I 0.02
#define STABILIZE_YAW_D 0.0
// yaw rate
#define RATE_YAW_P 0.135
#define RATE_YAW_I 0.0
#define RATE_YAW_D 0.0
// throttle
#define THROTTLE_P 0.2
#define THROTTLE_I 0.001
#define THROTTLE_IMAX 100
// navigation
#define NAV_LOITER_P 1.1
#define NAV_LOITER_I 0.03
#define NAV_LOITER_D 0.02
#define NAV_LOITER_IMAX 10

2
ArduCopter/Mavlink_Common.h
View File

@ -143,7 +143,7 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
g.rc_1.servo_out, g.rc_1.servo_out,
g.rc_2.servo_out, g.rc_2.servo_out,
g.rc_3.radio_out, g.rc_3.radio_out,
g.rc_4.servo_out g.rc_4.servo_out,
0, 0,
0, 0,
0, 0,