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Config.h:

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decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
This commit is contained in:
Jason Short 2012-07-03 17:37:37 -07:00
parent fcc38889b4
commit a143e7bef6
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/config.h
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@ -559,12 +559,12 @@
# define SUPER_SIMPLE_RADIUS 1000
#endif
// RTL Mode
#ifndef RTL_AUTO_LAND
# define RTL_AUTO_LAND ENABLED
#ifndef RTL_APPROACH_ALT
# define RTL_APPROACH_ALT 200
#endif
// LOITER Mode
#ifndef OF_LOITER_YAW
# define OF_LOITER_YAW YAW_HOLD
@ -771,10 +771,10 @@
#endif
#ifndef ALT_HOLD_P
# define ALT_HOLD_P 0.8 // .5
# define ALT_HOLD_P 0.4 // .5
#endif
#ifndef ALT_HOLD_I
# define ALT_HOLD_I 0.007
# define ALT_HOLD_I 0.038
#endif
#ifndef ALT_HOLD_IMAX
# define ALT_HOLD_IMAX 300