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

Added Loiter_D to replace Nav_P for better separation of loiter and navigation tuning.

Browse Source 
Upped Nav_P defaults to 3 based on windy flight testing
Added minimum WP speed define of 1m/s
Upped loiter_I for better wind performance - was not seeing any overshoot in logs
Made Nav_I default of 0, since we are not using it in the code.
This commit is contained in:
Jason Short 2012-01-21 22:09:13 -08:00
parent 59d1f225d5
commit 7edd16e5fe
1 changed files with 10 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
ArduCopter/config.h
View File

@ -622,20 +622,23 @@
# define LOITER_P 1.5 // was .25 in previous
#endif
#ifndef LOITER_I
# define LOITER_I 0.04 // Wind control
# define LOITER_I 0.09 // Wind control
#endif
#ifndef LOITER_IMAX
# define LOITER_IMAX 30 // degrees°
#endif
#ifndef LOITER_D
# define LOITER_D 2.2 // rate control
#endif
//////////////////////////////////////////////////////////////////////////////
// WP Navigation control gains
//
#ifndef NAV_P
# define NAV_P 2.2 // 3 was causing rapid oscillations in Loiter
# define NAV_P 3.0 // 3 was causing rapid oscillations in Loiter
#endif
#ifndef NAV_I
# define NAV_I 0.15 // used in traverals
# define NAV_I 0 //
#endif
#ifndef NAV_IMAX
# define NAV_IMAX 30 // degrees
@ -645,6 +648,10 @@
# define WAYPOINT_SPEED_MAX 600 // for 6m/s error = 13mph
#endif
#ifndef WAYPOINT_SPEED_MIN
# define WAYPOINT_SPEED_MIN 100 // for 6m/s error = 13mph
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains