APM_Control: tweak tuning settings

libraries/APM_Control/AP_AutoTune.cpp

@@ -295,9 +295,9 @@ void AP_AutoTune::update(AP_Logger::PID_Info &pinfo, float scaler)
                          old_FF*(1-AUTOTUNE_DECREASE_FF_STEP*0.01),
                          old_FF*(1+AUTOTUNE_INCREASE_FF_STEP*0.01));
 
-    // did the P or D components go over 15% of total actuator?
+    // did the P or D components go over 30% of total actuator?
     const float abs_actuator = MAX(max_actuator, fabsf(min_actuator));
-    const float PD_high = 0.15 * abs_actuator;
+    const float PD_high = 0.3 * abs_actuator;
     bool PD_significant = (max_P > PD_high || max_D > PD_high);
 
     // see if we overshot

libraries/APM_Control/AP_PitchController.h

@@ -53,7 +53,7 @@ private:
 	AP_Float _roll_ff;
 	uint32_t _last_t;
     float _last_out;
-    AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 10, 7, 4, 0.02, 100, 1};
+    AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 10, 7, 4, 0.02, 150, 1};
 
     AP_Logger::PID_Info _pid_info;
 

libraries/APM_Control/AP_RollController.h

@@ -58,7 +58,7 @@ private:
     bool failed_autotune_alloc;
 	uint32_t _last_t;
 	float _last_out;
-    AC_PID rate_pid{0.08, 0.15, 0, 0.345, 0.666, 10, 7, 4, 0.02, 100, 1};
+    AC_PID rate_pid{0.08, 0.15, 0, 0.345, 0.666, 10, 7, 4, 0.02, 150, 1};
 
     AP_Logger::PID_Info _pid_info;