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AC_AttitudeControl: Tradheli-update default gains

gps-1.3.1
Bill Geyer 3 years ago committed by Bill Geyer
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a34f8e1b8d
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6204898de4
1 changed files with 6 additions and 6 deletions
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  1. 12
      libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h

12
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
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@ -10,22 +10,22 @@ @@ -10,22 +10,22 @@
// default rate controller PID gains
#define AC_ATC_HELI_RATE_RP_P 0.024f
#define AC_ATC_HELI_RATE_RP_I 0.6f
#define AC_ATC_HELI_RATE_RP_I 0.15f
#define AC_ATC_HELI_RATE_RP_D 0.001f
#define AC_ATC_HELI_RATE_RP_IMAX 1.0f
#define AC_ATC_HELI_RATE_RP_FF 0.060f
#define AC_ATC_HELI_RATE_RP_IMAX 0.4f
#define AC_ATC_HELI_RATE_RP_FF 0.15f
#define AC_ATC_HELI_RATE_RP_FILT_HZ 20.0f
#define AC_ATC_HELI_RATE_YAW_P 0.18f
#define AC_ATC_HELI_RATE_YAW_I 0.12f
#define AC_ATC_HELI_RATE_YAW_D 0.003f
#define AC_ATC_HELI_RATE_YAW_IMAX 1.0f
#define AC_ATC_HELI_RATE_YAW_IMAX 0.4f
#define AC_ATC_HELI_RATE_YAW_FF 0.024f
#define AC_ATC_HELI_RATE_YAW_FILT_HZ 20.0f
#define AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX 0.95f // Heli's use 95% of max collective before limiting frame angle
#define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE 0.02f
#define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER 10.0f
#define AC_ATTITUDE_HELI_RATE_Y_FF_FILTER 10.0f
#define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER 20.0f
#define AC_ATTITUDE_HELI_RATE_Y_FF_FILTER 20.0f
#define AC_ATTITUDE_HELI_HOVER_ROLL_TRIM_DEFAULT 300
#define AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD ToRad(30.0f)

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