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new defaults for params

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This commit is contained in:
Jason Short 2012-02-15 09:09:42 -08:00
parent 11d1973abd
commit f20952df49
1 changed files with 29 additions and 0 deletions
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29
ArduCopter/config.h
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@ -510,6 +510,12 @@
# define SUPER_SIMPLE DISABLED
#endif
// RTL Mode
#ifndef RTL_AUTO_LAND
# define RTL_AUTO_LAND ENABLED
#endif
// LOITER Mode
#ifndef OF_LOITER_YAW
# define OF_LOITER_YAW YAW_HOLD
@ -640,6 +646,22 @@
# define LOITER_IMAX 30 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter Navigation control gains
//
#ifndef LOITER_RATE_P
# define LOITER_RATE_P 3.0 //
#endif
#ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.1 // Wind control
#endif
#ifndef LOITER_RATE_D
# define LOITER_RATE_D 0.00 //
#endif
#ifndef LOITER_RATE_IMAX
# define LOITER_RATE_IMAX 30 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// WP Navigation control gains
//
@ -656,6 +678,13 @@
# define NAV_IMAX 30 // degrees
#endif
#ifndef AUTO_SLEW_RATE
# define AUTO_SLEW_RATE 30 // degrees
#endif
#ifndef WAYPOINT_SPEED_MAX
# define WAYPOINT_SPEED_MAX 600 // 6m/s error = 13mph
#endif