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New Loiter Gains for new Loiter methods

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This commit is contained in:
Jason Short 2012-01-11 21:49:23 -08:00
parent 55cb0ad476
commit 2566f1fb95
1 changed files with 5 additions and 2 deletions
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7
ArduCopter/config.h
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@ -615,10 +615,10 @@
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Navigation control gains // Loiter control gains
// //
#ifndef LOITER_P #ifndef LOITER_P
# define LOITER_P .25 // # define LOITER_P 2.4 // was .25 in previous
#endif #endif
#ifndef LOITER_I #ifndef LOITER_I
# define LOITER_I 0.1 // Wind control # define LOITER_I 0.1 // Wind control
@ -627,6 +627,9 @@
# define LOITER_IMAX 30 // degrees° # define LOITER_IMAX 30 // degrees°
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// WP Navigation control gains
//
#ifndef NAV_P #ifndef NAV_P
# define NAV_P 2.2 // 3 was causing rapid oscillations in Loiter # define NAV_P 2.2 // 3 was causing rapid oscillations in Loiter
#endif #endif