Added OPtion for non-rate based loiter

13 years ago · e06d8142c1
1 changed files with 5 additions and 1 deletions
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@ -663,6 +663,10 @@
				@@ -663,6 +663,10 @@
 //////////////////////////////////////////////////////////////////////////////
 // Loiter Navigation control gains
 //
+#ifndef LOITER_RATE
+# define LOITER_RATE		0
+#endif
+
 #ifndef LOITER_RATE_P
 # define LOITER_RATE_P		3.5			//
 #endif
@ -670,7 +674,7 @@
				@@ -670,7 +674,7 @@
 # define LOITER_RATE_I		0.2			// Wind control
 #endif
 #ifndef LOITER_RATE_D
-# define LOITER_RATE_D		0.00		//
+# define LOITER_RATE_D		0.0			// try 2 or 3 for LOITER_RATE 1
 #endif
 #ifndef LOITER_RATE_IMAX
 # define LOITER_RATE_IMAX	30			// degrees