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Loiter PIDs

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