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Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm

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This commit is contained in:
Jason Short 2012-06-25 22:21:43 -07:00
parent c71c503c84
commit a0dc1f7ab1
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/config.h
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@ -734,7 +734,7 @@
// WP Navigation control gains
//
#ifndef NAV_P
# define NAV_P 3.0 //
# define NAV_P 2.5 //
#endif
#ifndef NAV_I
# define NAV_I 0.20 // Wind control
@ -772,7 +772,7 @@
#endif
#ifndef ALT_HOLD_P
# define ALT_HOLD_P 0.5 //
# define ALT_HOLD_P 0.8 // .5
#endif
#ifndef ALT_HOLD_I
# define ALT_HOLD_I 0.007
@ -783,7 +783,7 @@
// RATE control
#ifndef THROTTLE_P
# define THROTTLE_P 0.25 //
# define THROTTLE_P 0.35 // .25
#endif
#ifndef THROTTLE_I
# define THROTTLE_I 0.0 // Don't edit
@ -800,7 +800,7 @@
// Crosstrack compensation
//
#ifndef CROSSTRACK_GAIN
# define CROSSTRACK_GAIN 1
# define CROSSTRACK_GAIN .2
#endif