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AutoTest: reduce heli rate P values

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Also remove explicit params to use EKF2 because it is used by default now
This commit is contained in:
Randy Mackay 2016-02-08 20:06:29 +09:00
parent 12d9ffee12
commit 08a485eec4
1 changed files with 2 additions and 4 deletions
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6
Tools/autotest/Helicopter.parm
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@ -35,12 +35,12 @@ INS_ACC3SCAL_Z 1.000
RATE_PIT_D 0.0500
RATE_PIT_I 12.5000
RATE_PIT_IMAX 4500.0000
RATE_PIT_P 5.0000
RATE_PIT_P 1.0000
RATE_PIT_VFF 0.220000
RATE_RLL_D 0.0500
RATE_RLL_I 12.5000
RATE_RLL_IMAX 4500.0000
RATE_RLL_P 5.0000
RATE_RLL_P 1.0000
RATE_RLL_VFF 0.220000
RATE_YAW_D 0.0200
RATE_YAW_I 0.0975
@ -73,8 +73,6 @@ RC8_MAX 2000.000000
RC8_MIN 1000.000000
RC8_TRIM 1500.000000
WP_YAW_BEHAVIOR 2
EK2_ENABLE 1
AHRS_EKF_TYPE 2
IM_ACRO_COL_EXP 0.2
IM_STAB_COL_1 400
IM_STAB_COL_2 600