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heli config

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This commit is contained in:
Michael Oborne 2011-09-27 07:36:12 +08:00
parent 3e09ed08fb
commit e0714ec88c
1 changed files with 42 additions and 2 deletions
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44
ArduCopter/APM_Config.h
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@ -6,11 +6,11 @@
//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
//#define GCS_PROTOCOL GCS_PROTOCOL_NONE
//#define HIL_MODE HIL_MODE_ATTITUDE
#define HIL_MODE HIL_MODE_ATTITUDE
//#define BROKEN_SLIDER 0 // 1 = yes (use Yaw to enter CLI mode)
#define FRAME_CONFIG QUAD_FRAME
#define FRAME_CONFIG HELI_FRAME
/*
options:
QUAD_FRAME
@ -48,3 +48,43 @@
//#define RATE_ROLL_I 0.18
//#define RATE_PITCH_I 0.18
#define AUTO_RESET_LOITER 0
#define FRAME_CONFIG HELI_FRAME
// DEFAULT PIDS
// roll
#define STABILIZE_ROLL_P 0.70
#define STABILIZE_ROLL_I 0.025
#define STABILIZE_ROLL_D 0.04
#define STABILIZE_ROLL_IMAX 7
//pitch
#define STABILIZE_PITCH_P 0.70
#define STABILIZE_PITCH_I 0.025
#define STABILIZE_PITCH_D 0.04
#define STABILIZE_PITCH_IMAX 7
// yaw stablise
#define STABILIZE_YAW_P 0.7
#define STABILIZE_YAW_I 0.02
#define STABILIZE_YAW_D 0.0
// yaw rate
#define RATE_YAW_P 0.135
#define RATE_YAW_I 0.0
#define RATE_YAW_D 0.0
// throttle
#define THROTTLE_P 0.2
#define THROTTLE_I 0.001
#define THROTTLE_IMAX 100
// navigation
#define NAV_LOITER_P 1.1
#define NAV_LOITER_I 0.03
#define NAV_LOITER_D 0.02
#define NAV_LOITER_IMAX 10