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separated the PID values based on chosen Nav PID, Temporary until we get rate control tested.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2337 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-16 15:55:32 +00:00
parent 57f98db7ce
commit 92545b1ffb
1 changed files with 26 additions and 11 deletions
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37
ArduCopterMega/config.h
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@ -389,17 +389,32 @@
# define NAV_LOITER_IMAX 20 // 20°
#endif
#ifndef NAV_WP_P
# define NAV_WP_P 3.0 // for 4.5 ms error = 13.5 pitch
#endif
#ifndef NAV_WP_I
# define NAV_WP_I 0.5 // this is a fast ramp up
#endif
#ifndef NAV_WP_D
# define NAV_WP_D 0 // slight dampening of a few degrees at most
#endif
#ifndef NAV_WP_IMAX
# define NAV_WP_IMAX 40 // degrees
#if NAV_TEST == 1 // 0 = traditional, 1 = rate controlled
#ifndef NAV_WP_P
# define NAV_WP_P 3.0 // for 4.5 ms error = 13.5 pitch
#endif
#ifndef NAV_WP_I
# define NAV_WP_I 0.5 // this is a fast ramp up
#endif
#ifndef NAV_WP_D
# define NAV_WP_D 0 // slight dampening of a few degrees at most
#endif
#ifndef NAV_WP_IMAX
# define NAV_WP_IMAX 40 // degrees
#endif
#else
#ifndef NAV_WP_P
# define NAV_WP_P 4.0
#endif
#ifndef NAV_WP_I
# define NAV_WP_I 0.15 // leave 0
#endif
#ifndef NAV_WP_D
# define NAV_WP_D 10 // not sure about at all
#endif
#ifndef NAV_WP_IMAX
# define NAV_WP_IMAX 20 // 20 degrees
#endif
#endif
//////////////////////////////////////////////////////////////////////////////