From 7f3e142fa8068000e28de544a79423f9c2629b45 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Tue, 15 May 2012 22:01:01 -0700 Subject: [PATCH] Loiter Gains based on new SIM --- ArduCopter/config.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index a2b7689f82..e26bbf8365 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -711,13 +711,13 @@ // Loiter Navigation control gains // #ifndef LOITER_RATE_P -# define LOITER_RATE_P 2.0 // +# define LOITER_RATE_P 2.5 // #endif #ifndef LOITER_RATE_I -# define LOITER_RATE_I 0.2 // Wind control +# define LOITER_RATE_I 0.08 // Wind control #endif #ifndef LOITER_RATE_D -# define LOITER_RATE_D 0 // try 2 or 3 for LOITER_RATE 1 +# define LOITER_RATE_D 0.45 // try 2 or 3 for LOITER_RATE 1 #endif #ifndef LOITER_RATE_IMAX # define LOITER_RATE_IMAX 30 // degrees