aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Stab_D changes units with the new dampening controller updates

Browse Source 
Stabilize roll is raised to .1 - Flies great, and avoids a slow oscillation that could be affecting loiter.
Loiter P lowered to 1.5 based on feedback
This commit is contained in:
Jason Short 2012-01-20 10:10:02 -08:00
parent 3a4a80c650
commit f504c79fb0
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduCopter/config.h
View File

@ -517,7 +517,7 @@
#ifndef STABILIZE_D
# define STABILIZE_D .2
# define STABILIZE_D .03
#endif
// Jasons default values that are good for smaller payload motors.
@ -525,7 +525,7 @@
# define STABILIZE_ROLL_P 4.6
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.01
# define STABILIZE_ROLL_I 0.1
#endif
#ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 40 // degrees
@ -535,7 +535,7 @@
# define STABILIZE_PITCH_P 4.6
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.01
# define STABILIZE_PITCH_I 0.1
#endif
#ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 40 // degrees
@ -615,7 +615,7 @@
// Loiter control gains
//
#ifndef LOITER_P
# define LOITER_P 2.0 // was .25 in previous
# define LOITER_P 1.5 // was .25 in previous
#endif
#ifndef LOITER_I
# define LOITER_I 0.04 // Wind control