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Yaw Performance tweaks

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This commit is contained in:
Jason Short 2011-12-29 23:01:19 -08:00
parent 95a70cf32e
commit 21460a57ae
2 changed files with 2 additions and 2 deletions
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2
ArduCopter/Attitude.pde
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@ -153,7 +153,7 @@ get_stabilize_yaw(int32_t target_angle)
rate = g.pi_rate_yaw.get_pi(error, G_Dt); rate = g.pi_rate_yaw.get_pi(error, G_Dt);
// output control: // 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: // smoother Yaw control:
rate = constrain(rate, -yaw_input, yaw_input); rate = constrain(rate, -yaw_input, yaw_input);
#endif #endif

2
ArduCopter/config.h
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@ -582,7 +582,7 @@
// YAW Control // YAW Control
// //
#ifndef STABILIZE_YAW_P #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 #endif
#ifndef STABILIZE_YAW_I #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 # define STABILIZE_YAW_I 0.01 // set to .0001 to try and get over user's steady state error caused by poor balance