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updated Alt hold PIDs

This commit is contained in:
Jason Short 2011-11-01 09:30:34 -07:00
parent e7cecf03d3
commit eaff769f2f
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/config.h
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@ -509,10 +509,10 @@
#endif
#ifndef THR_HOLD_P
# define THR_HOLD_P 0.5 //
# define THR_HOLD_P 0.4 //
#endif
#ifndef THR_HOLD_I
# define THR_HOLD_I 0.01 // with 4m error, 12.5s windup
# define THR_HOLD_I 0.02 // with 4m error, 12.5s windup
#endif
#ifndef THR_HOLD_IMAX
# define THR_HOLD_IMAX 300
@ -520,10 +520,10 @@
// RATE control
#ifndef THROTTLE_P
# define THROTTLE_P 0.8 //
# define THROTTLE_P 1.0 //
#endif
#ifndef THROTTLE_I
# define THROTTLE_I 0.10 // with 4m error, 12.5s windup
# define THROTTLE_I 0.0 //
#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 50