From 0a63f104ab605f5caea49981698b4224f8889acc Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 11 Feb 2012 15:27:50 -0800 Subject: [PATCH] Gain adjustments for 3d frame. --- ArduCopter/config.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 062e8ca370..185209475d 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -542,10 +542,10 @@ #ifndef STABILIZE_D -# define STABILIZE_D .12 +# define STABILIZE_D .06 #endif -// Jasons default values that are good for smaller payload motors. +// Good for smaller payload motors. #ifndef STABILIZE_ROLL_P # define STABILIZE_ROLL_P 4.5 #endif @@ -587,10 +587,10 @@ # define RATE_ROLL_I 0.18 #endif #ifndef RATE_ROLL_D -# define RATE_ROLL_D 0.0 +# define RATE_ROLL_D 0.0025 #endif #ifndef RATE_ROLL_IMAX -# define RATE_ROLL_IMAX 15 // degrees +# define RATE_ROLL_IMAX 5 // degrees #endif #ifndef RATE_PITCH_P @@ -600,10 +600,10 @@ # define RATE_PITCH_I 0.18 #endif #ifndef RATE_PITCH_D -# define RATE_PITCH_D 0.0 // 0.002 +# define RATE_PITCH_D 0.0025 #endif #ifndef RATE_PITCH_IMAX -# define RATE_PITCH_IMAX 15 // degrees +# define RATE_PITCH_IMAX 5 // degrees #endif #ifndef RATE_YAW_P