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

Loiter PIDs

Browse Source
This commit is contained in:
Jason Short 2012-01-30 21:12:42 -08:00
parent 5de459a160
commit 4402a92e85
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduCopter/config.h
View File

@ -624,10 +624,10 @@
// Loiter control gains
//
#ifndef LOITER_P
# define LOITER_P .4 // was .25 in previous
# define LOITER_P .2 // was .25 in previous
#endif
#ifndef LOITER_I
# define LOITER_I 0.2 // Wind control
# define LOITER_I 0.0
#endif
#ifndef LOITER_IMAX
# define LOITER_IMAX 30 // degrees
@ -640,10 +640,10 @@
# define NAV_P 2.3 // 3 was causing rapid oscillations in Loiter
#endif
#ifndef NAV_I
# define NAV_I 0 //
# define NAV_I 0.4 // Wind control
#endif
#ifndef NAV_D
# define NAV_D 0.015 //
# define NAV_D 0.00 //
#endif
#ifndef NAV_IMAX
# define NAV_IMAX 30 // degrees
@ -767,7 +767,7 @@
#endif
// guess!
#ifndef LOG_OPTFLOW
# define LOG_OPTFLOW DISABLED
# define LOG_OPTFLOW DISABLED
#endif
// calculate the default log_bitmask