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Copter: backoff autotune discovered Stab P to 90%

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Leonard Hall 2015-05-17 11:05:48 +09:00 committed by Randy Mackay
parent 80c20b5cf2
commit 542e5fb54c
1 changed files with 1 additions and 1 deletions
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ArduCopter/control_autotune.pde
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@ -70,7 +70,7 @@
#define AUTOTUNE_D_UP_DOWN_MARGIN 0.2f // The margin below the target that we tune D in
#define AUTOTUNE_RD_BACKOFF 1.0f // Rate D gains are reduced to 50% of their maximum value discovered during tuning
#define AUTOTUNE_RP_BACKOFF 1.0f // Rate P gains are reduced to 97.5% of their maximum value discovered during tuning
#define AUTOTUNE_SP_BACKOFF 1.0f // Stab P gains are reduced to 60% of their maximum value discovered during tuning
#define AUTOTUNE_SP_BACKOFF 0.9f // Stab P gains are reduced to 90% of their maximum value discovered during tuning
#define AUTOTUNE_ACCEL_RP_BACKOFF 1.0f // back off from maximum acceleration
#define AUTOTUNE_ACCEL_Y_BACKOFF 0.75f // back off from maximum acceleration