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updated Gains for Marco's loiter test

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This commit is contained in:
Jason Short 2012-02-23 22:02:23 -08:00
parent 22982cda0f
commit ed5db98522
1 changed files with 7 additions and 7 deletions
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14
ArduCopter/config.h
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@ -651,7 +651,7 @@
// Loiter control gains
//
#ifndef LOITER_P
# define LOITER_P .2 // was .25 in previous
# define LOITER_P .8
#endif
#ifndef LOITER_I
# define LOITER_I 0.0
@ -664,26 +664,26 @@
// Loiter Navigation control gains
//
#ifndef LOITER_RATE_P
# define LOITER_RATE_P 3.0 //
# define LOITER_RATE_P 3.5 //
#endif
#ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.1 // Wind control
# define LOITER_RATE_I 0.2 // Wind control
#endif
#ifndef LOITER_RATE_D
# define LOITER_RATE_D 0.00 //
# define LOITER_RATE_D 0.00 //
#endif
#ifndef LOITER_RATE_IMAX
# define LOITER_RATE_IMAX 30 // degrees
# define LOITER_RATE_IMAX 30 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// WP Navigation control gains
//
#ifndef NAV_P
# define NAV_P 3.0 //
# define NAV_P 3.5 //
#endif
#ifndef NAV_I
# define NAV_I 0.1 // Wind control
# define NAV_I 0.2 // Wind control
#endif
#ifndef NAV_D
# define NAV_D 0.00 //