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Copter: increase autotune limits

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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)
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lthall 2014-09-22 21:32:37 +09:00 committed by Randy Mackay
parent 6cbb9d635a
commit e836832595
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/control_autotune.pde
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@ -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