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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 98f637282b
commit 257890d5be
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
# define LOITER_P .25 //
# define LOITER_P 2.4 // was .25 in previous
#endif
#ifndef LOITER_I
# define LOITER_I 0.1 // Wind control
@ -627,6 +627,9 @@
# define LOITER_IMAX 30 // degrees°
#endif
//////////////////////////////////////////////////////////////////////////////
// WP Navigation control gains
//
#ifndef NAV_P
# define NAV_P 2.2 // 3 was causing rapid oscillations in Loiter
#endif