Added new gain and clamp value for DCM

13 years ago · 0d8071a401
1 changed files with 2 additions and 1 deletions
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@ -343,10 +343,11 @@ static void init_ardupilot()
				@@ -343,10 +343,11 @@ static void init_ardupilot()
 	reset_control_switch();

 	#if HIL_MODE != HIL_MODE_ATTITUDE
-		dcm.kp_roll_pitch(0.030000);
+		dcm.kp_roll_pitch(0.130000);
 		dcm.ki_roll_pitch(0.00001278),	// 50 hz I term
 		dcm.kp_yaw(0.08);
 		dcm.ki_yaw(0.00004);
+		dcm._clamp = 5;
 	#endif

 	// init the Z damopener