From 48ba24a81060ef5e6a6d6e5b3289e9e8732cc396 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Tue, 13 Mar 2012 10:23:12 -0700 Subject: [PATCH] ACM: Loiter tuning updates, turned up I a bit, a higher I will work better if the system is well tuned. --- ArduCopter/config.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 45ef25399c..d622262c45 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -677,13 +677,13 @@ // Loiter Navigation control gains // #ifndef LOITER_RATE_P -# define LOITER_RATE_P 2.0 // +# define LOITER_RATE_P 3.0 // #endif #ifndef LOITER_RATE_I -# define LOITER_RATE_I 0.10 // Wind control +# define LOITER_RATE_I 0.20 // Wind control #endif #ifndef LOITER_RATE_D -# define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1 +# define LOITER_RATE_D 0 // try 2 or 3 for LOITER_RATE 1 #endif #ifndef LOITER_RATE_IMAX # define LOITER_RATE_IMAX 30 // degrees