From 8e790d3f915fb72376645fb5cb09c394dbf4b352 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Thu, 18 Feb 2016 20:43:08 +0900 Subject: [PATCH] Copter: autotune adjustment for large copters --- ArduCopter/control_autotune.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/control_autotune.cpp b/ArduCopter/control_autotune.cpp index 40a2e8a380..4d49a20eef 100644 --- a/ArduCopter/control_autotune.cpp +++ b/ArduCopter/control_autotune.cpp @@ -57,15 +57,15 @@ #define AUTOTUNE_PI_RATIO_FOR_TESTING 0.1f // I is set 10x smaller than P during testing #define AUTOTUNE_PI_RATIO_FINAL 1.0f // I is set 1x P after testing #define AUTOTUNE_YAW_PI_RATIO_FINAL 0.1f // I is set 1x P after testing -#define AUTOTUNE_RD_MAX 0.050f // maximum Rate D value +#define AUTOTUNE_RD_MAX 0.200f // maximum Rate D value #define AUTOTUNE_RLPF_MIN 1.0f // minimum Rate Yaw filter value #define AUTOTUNE_RLPF_MAX 5.0f // maximum Rate Yaw filter value #define AUTOTUNE_RP_MIN 0.01f // minimum Rate P value #define AUTOTUNE_RP_MAX 2.0f // maximum Rate P value #define AUTOTUNE_SP_MAX 20.0f // maximum Stab P value #define AUTOTUNE_SP_MIN 0.5f // maximum Stab P value -#define AUTOTUNE_RP_ACCEL_MIN 36000.0f // Minimum acceleration for Roll and Pitch -#define AUTOTUNE_Y_ACCEL_MIN 9000.0f // Minimum acceleration for Yaw +#define AUTOTUNE_RP_ACCEL_MIN 4000.0f // Minimum acceleration for Roll and Pitch +#define AUTOTUNE_Y_ACCEL_MIN 1000.0f // Minimum acceleration for Yaw #define AUTOTUNE_Y_FILT_FREQ 10.0f // Autotune filter frequency when testing Yaw #define AUTOTUNE_SUCCESS_COUNT 4 // The number of successful iterations we need to freeze at current gains #define AUTOTUNE_D_UP_DOWN_MARGIN 0.2f // The margin below the target that we tune D in