From 16412abbde1ec28dc4e15dcbfe581af295e3331a Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Fri, 22 Apr 2011 21:15:17 +0000
Subject: [PATCH] added a bit of kI term for Yaw hold.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1918 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/Attitude.pde |  4 +++-
 ArduCopterMega/Log.pde      | 10 ++++++----
 ArduCopterMega/config.h     |  2 +-
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/ArduCopterMega/Attitude.pde b/ArduCopterMega/Attitude.pde
index 4fbf9421ac..1afc46ef18 100644
--- a/ArduCopterMega/Attitude.pde
+++ b/ArduCopterMega/Attitude.pde
@@ -276,7 +276,9 @@ void output_manual_yaw()
 			clear_yaw_control();
 			did_clear_yaw_control = true;
 		}
-	}else{
+
+	}else{ // motors running
+
 		// Yaw control
 		if(g.rc_4.control_in == 0){
 			output_yaw_with_hold(true); // hold yaw
diff --git a/ArduCopterMega/Log.pde b/ArduCopterMega/Log.pde
index 3b83f71050..02d297dcf7 100644
--- a/ArduCopterMega/Log.pde
+++ b/ArduCopterMega/Log.pde
@@ -20,9 +20,6 @@ static int8_t	select_logs(uint8_t argc, 		const Menu::arg *argv);
 // printf_P is a version of print_f that reads from flash memory
 static int8_t	help_log(uint8_t argc, 			const Menu::arg *argv)
 {
-	// log hack
-	//Serial.begin(115200, 128, 128);
-
 	Serial.printf_P(PSTR("\n"
 						 "Commands:\n"
 						 "  dump <n>"
@@ -527,7 +524,10 @@ void Log_Write_Control_Tuning()
 	DataFlash.WriteInt((int)(g.rc_3.servo_out));
 	DataFlash.WriteInt((int)(g.rc_4.control_in));
 	DataFlash.WriteInt((int)(g.rc_4.servo_out));
+
+	// yaw
 	DataFlash.WriteInt((int)yaw_error);
+	DataFlash.WriteInt((int)(dcm.yaw_sensor/100));
 
 	// Yaw mode
 	DataFlash.WriteByte(yaw_debug);
@@ -553,13 +553,15 @@ void Log_Write_Control_Tuning()
 // Read an control tuning packet
 void Log_Read_Control_Tuning()
 {
-	Serial.printf_P(PSTR("CTUN, %d, %d, %d, %d, %d, %d, %1.4f, %1.4f, %1.4f, %d, %d, %d\n"),
+	Serial.printf_P(PSTR("CTUN, %d, %d, %d, %d, %d, %d, %d, %1.4f, %1.4f, %1.4f, %d, %d, %d\n"),
 				// Control
 				DataFlash.ReadInt(),
 				DataFlash.ReadInt(),
 				DataFlash.ReadInt(),
 				DataFlash.ReadInt(),
 
+				// yaw
+				DataFlash.ReadInt(),
 				DataFlash.ReadInt(),
 
 				// Yaw Mode
diff --git a/ArduCopterMega/config.h b/ArduCopterMega/config.h
index d6919fb7f0..553ac5b628 100644
--- a/ArduCopterMega/config.h
+++ b/ArduCopterMega/config.h
@@ -346,7 +346,7 @@
 # define YAW_P					0.4		// increase for more aggressive Yaw Hold, decrease if it's bouncy
 #endif
 #ifndef  YAW_I
-# define YAW_I					0.0			// Always 0
+# define YAW_I					0.1			// increased to .1 to try and get over user's steady state error caused by poor balance
 #endif
 #ifndef  YAW_D
 # define YAW_D					0.13		// Trying a lower value to prevent odd behavior