2.0.39

added defines for CH7 behavior, Tweaked Loiter config based on testing by Jack.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3021 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/config.h

@@ -58,6 +58,14 @@
 # define SONAR_TYPE		MAX_SONAR_XL
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Acrobatics
+//
+
+#ifndef CH7_OPTION
+# define CH7_OPTION		DO_SET_HOVER
+#endif
+
 
 //////////////////////////////////////////////////////////////////////////////
 // AIRSPEED_SENSOR
@@ -378,13 +386,13 @@
 // Navigation control gains
 //
 #ifndef NAV_LOITER_P
-# define NAV_LOITER_P			1.4			//
+# define NAV_LOITER_P			2.4		//1.4			//
 #endif
 #ifndef NAV_LOITER_I
-# define NAV_LOITER_I			0.015		//
+# define NAV_LOITER_I			0.01	//
 #endif
 #ifndef NAV_LOITER_D
-# define NAV_LOITER_D			1.4			//
+# define NAV_LOITER_D			1.0 	//1.4			//
 #endif
 #ifndef NAV_LOITER_IMAX
 # define NAV_LOITER_IMAX		12		// degrees°