From 0d434ca92c986a18fffb5ff5e12a717721ca45db Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sun, 11 Mar 2012 23:18:07 -0700 Subject: [PATCH] ACM: Tuning based on flights today --- ArduCopter/config.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 31b7463b60..438408c05a 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -681,13 +681,13 @@ #endif #ifndef LOITER_RATE_P -# define LOITER_RATE_P 2.6 // +# define LOITER_RATE_P 2.0 // #endif #ifndef LOITER_RATE_I -# define LOITER_RATE_I 0.25 // Wind control +# define LOITER_RATE_I 0.10 // Wind control #endif #ifndef LOITER_RATE_D -# define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1 +# define LOITER_RATE_D 1.0 // try 2 or 3 for LOITER_RATE 1 #endif #ifndef LOITER_RATE_IMAX # define LOITER_RATE_IMAX 30 // degrees