From d8eb7fb82fff961ec402d8d2fe9f081645c9e50d Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 19 Aug 2013 22:37:57 +0900 Subject: [PATCH] Copter: remove x100 from IMAX definitions --- ArduCopter/Parameters.h | 24 ++++++++++++------------ ArduCopter/config.h | 18 +++++++++--------- 2 files changed, 21 insertions(+), 21 deletions(-) diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index 4ed8127293..b5d40402e3 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -440,27 +440,27 @@ public: // PID controller initial P initial I initial D // initial imax //----------------------------------------------------------------------------------------------------- - pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100), - pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100), - pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100), + pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX), + pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX), + pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX), - pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), - pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), + pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX), + pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX), pid_throttle_rate (THROTTLE_RATE_P, THROTTLE_RATE_I, THROTTLE_RATE_D, THROTTLE_RATE_IMAX), pid_throttle_accel (THROTTLE_ACCEL_P, THROTTLE_ACCEL_I, THROTTLE_ACCEL_D, THROTTLE_ACCEL_IMAX), - pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100), - pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100), + pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX), + pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX), // PI controller initial P initial I initial // imax //---------------------------------------------------------------------- - pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100), - pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100), + pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX), + pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX), - pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100), - pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100), - pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100), + pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX), + pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX), + pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX), pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX) { diff --git a/ArduCopter/config.h b/ArduCopter/config.h index b6bbd4e081..f508f92edf 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -468,7 +468,7 @@ #define OPTFLOW_PITCH_D 0.12f #endif #ifndef OPTFLOW_IMAX - #define OPTFLOW_IMAX 1 + #define OPTFLOW_IMAX 100 #endif ////////////////////////////////////////////////////////////////////////////// @@ -790,7 +790,7 @@ # define STABILIZE_ROLL_I 0.0f #endif #ifndef STABILIZE_ROLL_IMAX - # define STABILIZE_ROLL_IMAX 8.0f // degrees + # define STABILIZE_ROLL_IMAX 0 #endif #ifndef STABILIZE_PITCH_P @@ -800,7 +800,7 @@ # define STABILIZE_PITCH_I 0.0f #endif #ifndef STABILIZE_PITCH_IMAX - # define STABILIZE_PITCH_IMAX 8.0f // degrees + # define STABILIZE_PITCH_IMAX 0 #endif #ifndef STABILIZE_YAW_P @@ -810,7 +810,7 @@ # define STABILIZE_YAW_I 0.0f #endif #ifndef STABILIZE_YAW_IMAX - # define STABILIZE_YAW_IMAX 8.0f // degrees * 100 + # define STABILIZE_YAW_IMAX 0 #endif #ifndef YAW_LOOK_AHEAD_MIN_SPEED @@ -837,7 +837,7 @@ # define RATE_ROLL_D 0.004f #endif #ifndef RATE_ROLL_IMAX - # define RATE_ROLL_IMAX 5.0f // degrees + # define RATE_ROLL_IMAX 500 #endif #ifndef RATE_PITCH_P @@ -850,7 +850,7 @@ # define RATE_PITCH_D 0.004f #endif #ifndef RATE_PITCH_IMAX - # define RATE_PITCH_IMAX 5.0f // degrees + # define RATE_PITCH_IMAX 500 #endif #ifndef RATE_YAW_P @@ -863,7 +863,7 @@ # define RATE_YAW_D 0.000f #endif #ifndef RATE_YAW_IMAX - # define RATE_YAW_IMAX 8.0f // degrees + # define RATE_YAW_IMAX 800 #endif @@ -901,7 +901,7 @@ # define LOITER_I 0.0f #endif #ifndef LOITER_IMAX - # define LOITER_IMAX 30 // degrees + # define LOITER_IMAX 0 #endif ////////////////////////////////////////////////////////////////////////////// @@ -917,7 +917,7 @@ # define LOITER_RATE_D 0.0f #endif #ifndef LOITER_RATE_IMAX - # define LOITER_RATE_IMAX 4 // maximum acceleration from I term build-up in m/s/s + # define LOITER_RATE_IMAX 400 // maximum acceleration from I term build-up in cm/s/s #endif //////////////////////////////////////////////////////////////////////////////