Copter: loiter rate IMAX to 4m/s/s and D to zero

12 years ago · 0663da7c9e
1 changed files with 2 additions and 2 deletions
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@ -887,10 +887,10 @@
				@@ -887,10 +887,10 @@
 # define LOITER_RATE_I          	0.5f
 #endif
 #ifndef LOITER_RATE_D
- # define LOITER_RATE_D          	0.25f
+ # define LOITER_RATE_D          	0.0f
 #endif
 #ifndef LOITER_RATE_IMAX
- # define LOITER_RATE_IMAX       	30                     // degrees
+ # define LOITER_RATE_IMAX       	4               // maximum acceleration from I term build-up in m/s/s
 #endif

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