Updated Altitude control default PID gains. Old ones were bad.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1108 f9c3cf11-9bcb-44bc-f272-b75c42450872
14 years ago · ab8f0d22a4
1 changed files with 4 additions and 4 deletions
--- a/ArducopterNG/Arducopter.h
+++ b/ArducopterNG/Arducopter.h
@ -563,9 +563,9 @@ void defaultUserConfig() {
				@@ -563,9 +563,9 @@ void defaultUserConfig() {
  KI_GPS_PITCH               = 0.005;
  KD_GPS_PITCH               = 0.01;
  GPS_MAX_ANGLE              = 22;
-  KP_ALTITUDE                = 0.8;
-  KI_ALTITUDE                = 0.5;
-  KD_ALTITUDE                = 0.6;
+  KP_ALTITUDE                = 0.08;
+  KI_ALTITUDE                = 0.05;
+  KD_ALTITUDE                = 0.06;
  acc_offset_x               = 2048;
  acc_offset_y               = 2048;
  acc_offset_z               = 2048;
@ -684,4 +684,4 @@ void defaultUserConfig() {
				@@ -684,4 +684,4 @@ void defaultUserConfig() {



-// end of file
+// end of file