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TradHeli: disable AutoTune for Tradheli compile 

We need the flash space, and this probably won't work for tradheli anyway since tradheli needs most of the control from Feedforward rather than P term.  And D-term is very very bad.
mission-4.1.18
Robert Lefebvre 11 years ago committed by Randy Mackay
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1db3c6e688
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531a9f4f25
1 changed files with 16 additions and 13 deletions
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  1. 29
      ArduCopter/config.h

29
ArduCopter/config.h
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@ -103,25 +103,28 @@
///////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////
// TradHeli defaults // TradHeli defaults
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125 # define RC_FAST_SPEED 125
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD # define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
# define RATE_INTEGRATOR_LEAK_RATE 0.02f # define RATE_INTEGRATOR_LEAK_RATE 0.02f
# define RATE_ROLL_D 0 # define RATE_ROLL_D 0
# define RATE_PITCH_D 0 # define RATE_PITCH_D 0
# define HELI_PITCH_FF 0 # define HELI_PITCH_FF 0
# define HELI_ROLL_FF 0 # define HELI_ROLL_FF 0
# define HELI_YAW_FF 0 # define HELI_YAW_FF 0
# define STABILIZE_THR THROTTLE_MANUAL_HELI # define STABILIZE_THR THROTTLE_MANUAL_HELI
# define MPU6K_FILTER 10 # define MPU6K_FILTER 10
# define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0 # define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
# define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000 # define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
# define THR_MIN_DEFAULT 0 # define THR_MIN_DEFAULT 0
# define AUTOTUNE DISABLED
# ifndef HELI_CC_COMP # ifndef HELI_CC_COMP
#define HELI_CC_COMP DISABLED #define HELI_CC_COMP DISABLED
#endif #endif
# ifndef HELI_PIRO_COMP # ifndef HELI_PIRO_COMP
#define HELI_PIRO_COMP DISABLED #define HELI_PIRO_COMP DISABLED
#endif #endif
#endif #endif
///////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////

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