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increased crosstrack thanks to float math fix 

decreased loiter iterm, decreased throttle iterm based on simulator runs
This commit is contained in:
Jason Short 2011-12-23 14:24:03 -08:00
parent 7820d96f4c
commit f892e0b00d
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/config.h
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@ -598,7 +598,7 @@
# define LOITER_P .3 // # define LOITER_P .3 //
#endif #endif
#ifndef LOITER_I #ifndef LOITER_I
# define LOITER_I 0.05 // # define LOITER_I 0.01 //
#endif #endif
#ifndef LOITER_IMAX #ifndef LOITER_IMAX
# define LOITER_IMAX 30 // degrees° # define LOITER_IMAX 30 // degrees°
@ -630,7 +630,7 @@
# define THR_HOLD_P 0.4 // # define THR_HOLD_P 0.4 //
#endif #endif
#ifndef THR_HOLD_I #ifndef THR_HOLD_I
# define THR_HOLD_I 0.02 // with 4m error, 12.5s windup # define THR_HOLD_I 0.01 // with 4m error, 12.5s windup
#endif #endif
#ifndef THR_HOLD_IMAX #ifndef THR_HOLD_IMAX
# define THR_HOLD_IMAX 300 # define THR_HOLD_IMAX 300
@ -652,7 +652,7 @@
// Crosstrack compensation // Crosstrack compensation
// //
#ifndef CROSSTRACK_GAIN #ifndef CROSSTRACK_GAIN
# define CROSSTRACK_GAIN 4 # define CROSSTRACK_GAIN 40
#endif #endif