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@ -542,12 +542,12 @@
@@ -542,12 +542,12 @@
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#endif |
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#ifndef ALT_HOLD_P |
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# define ALT_HOLD_P 1.0f |
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# define ALT_HOLD_P 3.0f |
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#endif |
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// Velocity (vertical) control gains
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#ifndef VEL_Z_P |
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# define VEL_Z_P 5.0f |
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# define VEL_Z_P 8.0f |
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#endif |
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// Accel (vertical) control gains
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@ -555,13 +555,13 @@
@@ -555,13 +555,13 @@
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# define ACCEL_Z_P 0.50f |
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#endif |
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#ifndef ACCEL_Z_I |
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# define ACCEL_Z_I 0.0f |
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# define ACCEL_Z_I 0.1f |
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#endif |
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#ifndef ACCEL_Z_D |
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# define ACCEL_Z_D 0.0f |
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#endif |
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#ifndef ACCEL_Z_IMAX |
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# define ACCEL_Z_IMAX 0 |
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# define ACCEL_Z_IMAX 100 |
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#endif |
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#ifndef ACCEL_Z_FILT_HZ |
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# define ACCEL_Z_FILT_HZ 20.0f |
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