From 00f72dd92f081406d8e7ceed3bcf5c4dcd4b0605 Mon Sep 17 00:00:00 2001 From: Bill Geyer Date: Tue, 5 Oct 2021 23:49:15 -0400 Subject: [PATCH] AC_AutoTune: clean up #define constants in multi class --- libraries/AC_AutoTune/AC_AutoTune_Multi.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp index f664878ff0..b85e0a715c 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp +++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp @@ -17,14 +17,12 @@ Converted to a library by Andrew Tridgell */ -#define AUTOTUNE_FFI_RATIO_FOR_TESTING 0.5f // I is set 2x smaller than VFF during testing -#define AUTOTUNE_FFI_RATIO_FINAL 0.5f // I is set 0.5x VFF after testing -#define AUTOTUNE_PI_RATIO_FINAL 1.0f // I is set 1x P after testing -#define AUTOTUNE_YAW_PI_RATIO_FINAL 0.1f // I is set 1x P after testing #define AUTOTUNE_RD_STEP 0.05f // minimum increment when increasing/decreasing Rate D term #define AUTOTUNE_RP_STEP 0.05f // minimum increment when increasing/decreasing Rate P term #define AUTOTUNE_SP_STEP 0.05f // minimum increment when increasing/decreasing Stab P term #define AUTOTUNE_PI_RATIO_FOR_TESTING 0.1f // I is set 10x smaller than P during testing +#define AUTOTUNE_PI_RATIO_FINAL 1.0f // I is set 1x P after testing +#define AUTOTUNE_YAW_PI_RATIO_FINAL 0.1f // I is set 1x P after testing #define AUTOTUNE_RD_MAX 0.200f // maximum Rate D value #define AUTOTUNE_RLPF_MIN 1.0f // minimum Rate Yaw filter value #define AUTOTUNE_RLPF_MAX 5.0f // maximum Rate Yaw filter value