aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AR_AttitudeControl: reduce default steering I gain to 0.2

Browse Source 
Also reduce default filter from 50hz to 10hz
This commit is contained in:
Randy Mackay 2018-04-19 16:29:12 +09:00
parent e5c0b1814a
commit 23ed735304
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/APM_Control/AR_AttitudeControl.h
View File

@ -9,17 +9,17 @@
#define AR_ATTCONTROL_STEER_ANG_P 1.00f #define AR_ATTCONTROL_STEER_ANG_P 1.00f
#define AR_ATTCONTROL_STEER_RATE_FF 0.20f #define AR_ATTCONTROL_STEER_RATE_FF 0.20f
#define AR_ATTCONTROL_STEER_RATE_P 0.20f #define AR_ATTCONTROL_STEER_RATE_P 0.20f
#define AR_ATTCONTROL_STEER_RATE_I 0.50f #define AR_ATTCONTROL_STEER_RATE_I 0.20f
#define AR_ATTCONTROL_STEER_RATE_IMAX 1.00f #define AR_ATTCONTROL_STEER_RATE_IMAX 1.00f
#define AR_ATTCONTROL_STEER_RATE_D 0.00f #define AR_ATTCONTROL_STEER_RATE_D 0.00f
#define AR_ATTCONTROL_STEER_RATE_FILT 50.00f #define AR_ATTCONTROL_STEER_RATE_FILT 10.00f
#define AR_ATTCONTROL_STEER_RATE_MAX 360.0f #define AR_ATTCONTROL_STEER_RATE_MAX 360.0f
#define AR_ATTCONTROL_STEER_ACCEL_MAX 360.0f #define AR_ATTCONTROL_STEER_ACCEL_MAX 360.0f
#define AR_ATTCONTROL_THR_SPEED_P 0.20f #define AR_ATTCONTROL_THR_SPEED_P 0.20f
#define AR_ATTCONTROL_THR_SPEED_I 0.20f #define AR_ATTCONTROL_THR_SPEED_I 0.20f
#define AR_ATTCONTROL_THR_SPEED_IMAX 1.00f #define AR_ATTCONTROL_THR_SPEED_IMAX 1.00f
#define AR_ATTCONTROL_THR_SPEED_D 0.00f #define AR_ATTCONTROL_THR_SPEED_D 0.00f
#define AR_ATTCONTROL_THR_SPEED_FILT 50.00f #define AR_ATTCONTROL_THR_SPEED_FILT 10.00f
#define AR_ATTCONTROL_DT 0.02f #define AR_ATTCONTROL_DT 0.02f
#define AR_ATTCONTROL_TIMEOUT_MS 200 #define AR_ATTCONTROL_TIMEOUT_MS 200