Browse Source

Sub: Change default depth hold pids

mission-4.1.18
Jacob Walser 8 years ago committed by Andrew Tridgell
parent
commit
48d5bf7cff
  1. 8
      ArduSub/config.h

8
ArduSub/config.h

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

Loading…
Cancel
Save