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Gain adjustments for 3d frame.

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This commit is contained in:
Jason Short 2012-02-11 15:27:50 -08:00
parent 3932e8b2a1
commit f369a02aab
1 changed files with 6 additions and 6 deletions
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12
ArduCopter/config.h
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@ -542,10 +542,10 @@
#ifndef STABILIZE_D #ifndef STABILIZE_D
# define STABILIZE_D .12 # define STABILIZE_D .06
#endif #endif
// Jasons default values that are good for smaller payload motors. // Good for smaller payload motors.
#ifndef STABILIZE_ROLL_P #ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.5 # define STABILIZE_ROLL_P 4.5
#endif #endif
@ -587,10 +587,10 @@
# define RATE_ROLL_I 0.18 # define RATE_ROLL_I 0.18
#endif #endif
#ifndef RATE_ROLL_D #ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.0 # define RATE_ROLL_D 0.0025
#endif #endif
#ifndef RATE_ROLL_IMAX #ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 15 // degrees # define RATE_ROLL_IMAX 5 // degrees
#endif #endif
#ifndef RATE_PITCH_P #ifndef RATE_PITCH_P
@ -600,10 +600,10 @@
# define RATE_PITCH_I 0.18 # define RATE_PITCH_I 0.18
#endif #endif
#ifndef RATE_PITCH_D #ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.0 // 0.002 # define RATE_PITCH_D 0.0025
#endif #endif
#ifndef RATE_PITCH_IMAX #ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 15 // degrees # define RATE_PITCH_IMAX 5 // degrees
#endif #endif
#ifndef RATE_YAW_P #ifndef RATE_YAW_P