From 542e5fb54cb560598db8aa880d7c3eb23fa774f4 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Sun, 17 May 2015 11:05:48 +0900 Subject: [PATCH] Copter: backoff autotune discovered Stab P to 90% --- ArduCopter/control_autotune.pde | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/control_autotune.pde b/ArduCopter/control_autotune.pde index 056585c1ca..c8f2e3a669 100644 --- a/ArduCopter/control_autotune.pde +++ b/ArduCopter/control_autotune.pde @@ -70,7 +70,7 @@ #define AUTOTUNE_D_UP_DOWN_MARGIN 0.2f // The margin below the target that we tune D in #define AUTOTUNE_RD_BACKOFF 1.0f // Rate D gains are reduced to 50% of their maximum value discovered during tuning #define AUTOTUNE_RP_BACKOFF 1.0f // Rate P gains are reduced to 97.5% of their maximum value discovered during tuning -#define AUTOTUNE_SP_BACKOFF 1.0f // Stab P gains are reduced to 60% of their maximum value discovered during tuning +#define AUTOTUNE_SP_BACKOFF 0.9f // Stab P gains are reduced to 90% of their maximum value discovered during tuning #define AUTOTUNE_ACCEL_RP_BACKOFF 1.0f // back off from maximum acceleration #define AUTOTUNE_ACCEL_Y_BACKOFF 0.75f // back off from maximum acceleration