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some better defaults for JDrones

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This commit is contained in:
Jason Short 2012-02-18 14:23:21 -08:00
parent b92d7aaad5
commit 1b46daa12e
1 changed files with 22 additions and 15 deletions
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37
ArduCopter/config.h
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@ -554,20 +554,23 @@
#endif
#ifndef STABILIZE_D
# define STABILIZE_D .2
#endif
#ifndef ACRO_P
# define ACRO_P 4.5
#endif
#ifndef AXIS_LOCK_ENABLED
# define AXIS_LOCK_ENABLED DISABLED
#endif
#ifndef AXIS_LOCK_P
# define AXIS_LOCK_P .02
#endif
// Good for smaller payload motors.
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4
# define STABILIZE_ROLL_P 4.5
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.0
@ -577,7 +580,7 @@
#endif
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4
# define STABILIZE_PITCH_P 4.5
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0
@ -601,26 +604,26 @@
// Stabilize Rate Control
//
#ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.12
# define RATE_ROLL_P 0.14
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.02
# define RATE_ROLL_I 0.0
#endif
#ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.008
# define RATE_ROLL_D 0.002
#endif
#ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 5 // degrees
#endif
#ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.12
# define RATE_PITCH_P 0.14
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.02
# define RATE_PITCH_I 0.0
#endif
#ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.008
# define RATE_PITCH_D 0.002
#endif
#ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 5 // degrees
@ -633,13 +636,17 @@
# define RATE_YAW_I 0.0
#endif
#ifndef RATE_YAW_D
# define RATE_YAW_D .002
# define RATE_YAW_D .000
#endif
#ifndef RATE_YAW_IMAX
# define RATE_YAW_IMAX 50 // degrees
#endif
#ifndef STABILIZE_D
# define STABILIZE_D 0.05
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter control gains
//