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AR_AttitudeControl: increase angle err P and reduce steering accel max defaults

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This commit is contained in:
Randy Mackay 2018-04-26 14:16:22 +09:00
parent 42b4991f6c
commit f4976394de
1 changed files with 2 additions and 2 deletions
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4
libraries/APM_Control/AR_AttitudeControl.h
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@ -6,7 +6,7 @@
#include <AC_PID/AC_P.h> #include <AC_PID/AC_P.h>
// attitude control default definition // attitude control default definition
#define AR_ATTCONTROL_STEER_ANG_P 1.00f #define AR_ATTCONTROL_STEER_ANG_P 2.50f
#define AR_ATTCONTROL_STEER_RATE_FF 0.20f #define AR_ATTCONTROL_STEER_RATE_FF 0.20f
#define AR_ATTCONTROL_STEER_RATE_P 0.20f #define AR_ATTCONTROL_STEER_RATE_P 0.20f
#define AR_ATTCONTROL_STEER_RATE_I 0.20f #define AR_ATTCONTROL_STEER_RATE_I 0.20f
@ -14,7 +14,7 @@
#define AR_ATTCONTROL_STEER_RATE_D 0.00f #define AR_ATTCONTROL_STEER_RATE_D 0.00f
#define AR_ATTCONTROL_STEER_RATE_FILT 10.00f #define AR_ATTCONTROL_STEER_RATE_FILT 10.00f
#define AR_ATTCONTROL_STEER_RATE_MAX 360.0f #define AR_ATTCONTROL_STEER_RATE_MAX 360.0f
#define AR_ATTCONTROL_STEER_ACCEL_MAX 360.0f #define AR_ATTCONTROL_STEER_ACCEL_MAX 180.0f
#define AR_ATTCONTROL_THR_SPEED_P 0.20f #define AR_ATTCONTROL_THR_SPEED_P 0.20f
#define AR_ATTCONTROL_THR_SPEED_I 0.20f #define AR_ATTCONTROL_THR_SPEED_I 0.20f
#define AR_ATTCONTROL_THR_SPEED_IMAX 1.00f #define AR_ATTCONTROL_THR_SPEED_IMAX 1.00f