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updated Loiter gains

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This commit is contained in:
Jason Short 2011-12-29 17:34:00 -08:00
parent 53c09774e5
commit 17acbc4572
1 changed files with 8 additions and 8 deletions
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16
ArduCopter/config.h
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@ -536,7 +536,7 @@
// Acro Rate Control
//
#ifndef ACRO_ROLL_P
# define ACRO_ROLL_P 0.145
# define ACRO_ROLL_P 0.155
#endif
#ifndef ACRO_ROLL_I
# define ACRO_ROLL_I 0.0
@ -546,7 +546,7 @@
#endif
#ifndef ACRO_PITCH_P
# define ACRO_PITCH_P 0.145
# define ACRO_PITCH_P 0.155
#endif
#ifndef ACRO_PITCH_I
# define ACRO_PITCH_I 0 //0.18
@ -559,7 +559,7 @@
// Stabilize Rate Control
//
#ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.145
# define RATE_ROLL_P 0.155
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.0
@ -569,7 +569,7 @@
#endif
#ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.145
# define RATE_PITCH_P 0.155
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0 //0.18
@ -606,20 +606,20 @@
// Navigation control gains
//
#ifndef LOITER_P
# define LOITER_P .3 //
# define LOITER_P .2 //
#endif
#ifndef LOITER_I
# define LOITER_I 0.05 // Wind control
# define LOITER_I 0.03 // Wind control
#endif
#ifndef LOITER_IMAX
# define LOITER_IMAX 30 // degrees°
#endif
#ifndef NAV_P
# define NAV_P 3.0 //
# define NAV_P 1.5 // 3 was causing rapid oscillations in Loiter
#endif
#ifndef NAV_I
# define NAV_I 0.15 // Lowerd from .25 - saw lots of overshoot.
# define NAV_I 0.15 // used in traverals
#endif
#ifndef NAV_IMAX
# define NAV_IMAX 30 // degrees