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Upped Yaw speed to deal with performance complaints

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Added new Stabilize D term default of .25
This commit is contained in:
Jason Short 2011-12-29 10:23:59 -08:00
parent d055763947
commit bb954bc479
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/config.h
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@ -507,6 +507,10 @@
#endif #endif
#ifndef STABILIZE_D
# define STABILIZE_D .25
#endif
// Jasons default values that are good for smaller payload motors. // Jasons default values that are good for smaller payload motors.
#ifndef STABILIZE_ROLL_P #ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.6 # define STABILIZE_ROLL_P 4.6
@ -578,7 +582,7 @@
// YAW Control // YAW Control
// //
#ifndef STABILIZE_YAW_P #ifndef STABILIZE_YAW_P
# define STABILIZE_YAW_P 7 // increase for more aggressive Yaw Hold, decrease if it's bouncy # define STABILIZE_YAW_P 10 // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif #endif
#ifndef STABILIZE_YAW_I #ifndef STABILIZE_YAW_I
# define STABILIZE_YAW_I 0.01 // set to .0001 to try and get over user's steady state error caused by poor balance # define STABILIZE_YAW_I 0.01 // set to .0001 to try and get over user's steady state error caused by poor balance