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Added crosstrack gain and lowered alt hold rate gain

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This commit is contained in:
Jason Short 2011-11-19 13:59:15 -08:00
parent e4f2ad1809
commit 9bc4328724
1 changed files with 3 additions and 17 deletions
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20
ArduCopter/config.h
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@ -519,7 +519,7 @@
// RATE control
#ifndef THROTTLE_P
# define THROTTLE_P 1.0 //
# define THROTTLE_P 0.6 //
#endif
#ifndef THROTTLE_I
# define THROTTLE_I 0.0 //
@ -532,24 +532,10 @@
//////////////////////////////////////////////////////////////////////////////
// Crosstrack compensation
//
#ifndef XTRACK_ENTRY_ANGLE
# define XTRACK_ENTRY_ANGLE 30 // deg
#ifndef CROSSTRACK_GAIN
# define CROSSTRACK_GAIN 4
#endif
#ifndef XTRACK_P
# define XTRACK_P 2 // trying a lower val
#endif
#ifndef XTRACK_I
# define XTRACK_I 0.00 //with 4m error, 12.5s windup
#endif
#ifndef XTRACK_D
# define XTRACK_D 0.00 // upped with filter
#endif
#ifndef XTRACK_IMAX
# define XTRACK_IMAX 10
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////