From 21460a57ae3aadfaf758b779aca7c4eb137fcf46 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Thu, 29 Dec 2011 23:01:19 -0800 Subject: [PATCH] Yaw Performance tweaks --- ArduCopter/Attitude.pde | 2 +- ArduCopter/config.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde index d2b91b99c7..f694621898 100644 --- a/ArduCopter/Attitude.pde +++ b/ArduCopter/Attitude.pde @@ -153,7 +153,7 @@ get_stabilize_yaw(int32_t target_angle) rate = g.pi_rate_yaw.get_pi(error, G_Dt); // output control: - int16_t yaw_input = 1200 + abs(g.rc_4.control_in); + int16_t yaw_input = 1400 + abs(g.rc_4.control_in); // smoother Yaw control: rate = constrain(rate, -yaw_input, yaw_input); #endif diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 89e9790ef0..27d4eb1716 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -582,7 +582,7 @@ // YAW Control // #ifndef STABILIZE_YAW_P -# define STABILIZE_YAW_P 10 // increase for more aggressive Yaw Hold, decrease if it's bouncy +# define STABILIZE_YAW_P 9.5 // increase for more aggressive Yaw Hold, decrease if it's bouncy #endif #ifndef STABILIZE_YAW_I # define STABILIZE_YAW_I 0.01 // set to .0001 to try and get over user's steady state error caused by poor balance