From e8368325953a1a7222cb887f1976d70ae9b86bfa Mon Sep 17 00:00:00 2001 From: lthall Date: Mon, 22 Sep 2014 21:32:37 +0900 Subject: [PATCH] Copter: increase autotune limits Rate D max to 0.020 (was 0.015) Rate P max to 0.35 (was 0.25) Stab P max to 20 (was 15) --- ArduCopter/control_autotune.pde | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/control_autotune.pde b/ArduCopter/control_autotune.pde index 8e53e1bac5..0fb7cf96b2 100644 --- a/ArduCopter/control_autotune.pde +++ b/ArduCopter/control_autotune.pde @@ -53,10 +53,10 @@ #define AUTOTUNE_PI_RATIO_FOR_TESTING 0.1f // I is set 10x smaller than P during testing #define AUTOTUNE_RP_RATIO_FINAL 1.0f // I is set 1x P after testing #define AUTOTUNE_RD_MIN 0.002f // minimum Rate D value -#define AUTOTUNE_RD_MAX 0.015f // maximum Rate D value +#define AUTOTUNE_RD_MAX 0.020f // maximum Rate D value #define AUTOTUNE_RP_MIN 0.01f // minimum Rate P value -#define AUTOTUNE_RP_MAX 0.25f // maximum Rate P value -#define AUTOTUNE_SP_MAX 15.0f // maximum Stab P value +#define AUTOTUNE_RP_MAX 0.35f // maximum Rate P value +#define AUTOTUNE_SP_MAX 20.0f // maximum Stab P value #define AUTOTUNE_SUCCESS_COUNT 4 // how many successful iterations we need to freeze at current gains // Auto Tune message ids for ground station