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autotest: adjusted APM parameters

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enable compass and tweak tuning
This commit is contained in:
Andrew Tridgell 2012-02-14 11:19:59 +11:00
parent 8f18d08eb5
commit d62cc01b65
1 changed files with 5 additions and 4 deletions
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9
Tools/autotest/ArduPlane.parm
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@ -1,6 +1,6 @@
LOG_BITMASK 4095 LOG_BITMASK 4095
SWITCH_ENABLE 0 SWITCH_ENABLE 0
MAG_ENABLE 0 MAG_ENABLE 1
TRIM_ARSPD_CM 2200 TRIM_ARSPD_CM 2200
TRIM_PITCH_CD -1000 TRIM_PITCH_CD -1000
ARSPD_ENABLE 1 ARSPD_ENABLE 1
@ -8,10 +8,10 @@ ARSP2PTCH_I 0.1
ARSPD_FBW_MAX 30 ARSPD_FBW_MAX 30
ARSPD_FBW_MIN 10 ARSPD_FBW_MIN 10
KFF_RDDRMIX 0 KFF_RDDRMIX 0
KFF_PTCHCOMP 0.2 KFF_PTCHCOMP 0.3
THR_MAX 100 THR_MAX 100
HDNG2RLL_D 0.5 HDNG2RLL_D 0.5
HDNG2RLL_I 0.0 HDNG2RLL_I 0.01
HDNG2RLL_IMAX 50.0 HDNG2RLL_IMAX 50.0
HDNG2RLL_P 1.50 HDNG2RLL_P 1.50
RC2_REV -1 RC2_REV -1
@ -48,8 +48,9 @@ FLTMODE5 2
FLTMODE6 0 FLTMODE6 0
FLTMODE_CH 8 FLTMODE_CH 8
PTCH2SRV_P 1.5 PTCH2SRV_P 1.5
RLL2SRV_I 0 RLL2SRV_I 0.05
RLL2SRV_P 0.8 RLL2SRV_P 0.8
XTRK_ANGLE_CD 500 XTRK_ANGLE_CD 500
XTRK_GAIN_SC 25 XTRK_GAIN_SC 25
WP_LOITER_RAD 90