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ArduCopter: updated standard loiter pids.

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Loiter_P (speed from distance to target) = 0.2 (was 0.35)
Loiter_Rate_P (lean angle from desired acceleration) = 2.4 (was 2.5)
Loiter_Rate_I = unchanged at 0.08
Loiter_Rate_D = 0.40 (was 0.45)
This commit is contained in:
rmackay9 2012-06-12 20:56:31 +09:00
parent fca914b7cf
commit 1b9ed1444e
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/config.h
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@ -705,7 +705,7 @@
// Loiter control gains
//
#ifndef LOITER_P
# define LOITER_P .35
# define LOITER_P .20
#endif
#ifndef LOITER_I
# define LOITER_I 0.0
@ -718,13 +718,13 @@
// Loiter Navigation control gains
//
#ifndef LOITER_RATE_P
# define LOITER_RATE_P 2.5 //
# define LOITER_RATE_P 2.4 //
#endif
#ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.08 // Wind control
#endif
#ifndef LOITER_RATE_D
# define LOITER_RATE_D 0.45 // try 2 or 3 for LOITER_RATE 1
# define LOITER_RATE_D 0.40 // try 2 or 3 for LOITER_RATE 1
#endif
#ifndef LOITER_RATE_IMAX
# define LOITER_RATE_IMAX 30 // degrees