From a143e7bef60abc0a5b732c372e490f4c8e3d4c3c Mon Sep 17 00:00:00 2001 From: Jason Short Date: Tue, 3 Jul 2012 17:37:37 -0700 Subject: [PATCH] Config.h: decreased alt hold_P to .4 removed RTL_AUTO_LAND default increased alt hold I --- ArduCopter/config.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 41e9462da8..e1026d5e8d 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -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