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PID test for alt hold to narrow down on a bug

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This commit is contained in:
Jason Short 2011-11-08 10:13:16 -08:00
parent 8360a4cdbc
commit 10bbfdbe11
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/config.h
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@ -377,7 +377,7 @@
# define STABILIZE_ROLL_P 4.6 # define STABILIZE_ROLL_P 4.6
#endif #endif
#ifndef STABILIZE_ROLL_I #ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.001 # define STABILIZE_ROLL_I 0.0
#endif #endif
#ifndef STABILIZE_ROLL_IMAX #ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 1.5 // degrees # define STABILIZE_ROLL_IMAX 1.5 // degrees
@ -387,7 +387,7 @@
# define STABILIZE_PITCH_P 4.6 # define STABILIZE_PITCH_P 4.6
#endif #endif
#ifndef STABILIZE_PITCH_I #ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.001 # define STABILIZE_PITCH_I 0.0
#endif #endif
#ifndef STABILIZE_PITCH_IMAX #ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 1.5 // degrees # define STABILIZE_PITCH_IMAX 1.5 // degrees
@ -511,7 +511,7 @@
# 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 0.00 // 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