From f504c79fb07898f012e345b8ec86d79d2f39ed75 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Fri, 20 Jan 2012 10:10:02 -0800 Subject: [PATCH] Stab_D changes units with the new dampening controller updates 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 --- ArduCopter/config.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index d79737f166..3d3a19a6b0 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -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