From 21bd48b6c374495fc88433f0d4f4dbf8d7a5351a Mon Sep 17 00:00:00 2001 From: Jason Short Date: Mon, 30 Jan 2012 21:12:42 -0800 Subject: [PATCH] Loiter PIDs --- ArduCopter/config.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 2c2c45e5b9..43abc0c984 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -624,10 +624,10 @@ // Loiter control gains // #ifndef LOITER_P -# define LOITER_P .4 // was .25 in previous +# define LOITER_P .2 // was .25 in previous #endif #ifndef LOITER_I -# define LOITER_I 0.2 // Wind control +# define LOITER_I 0.0 #endif #ifndef LOITER_IMAX # define LOITER_IMAX 30 // degrees @@ -640,10 +640,10 @@ # define NAV_P 2.3 // 3 was causing rapid oscillations in Loiter #endif #ifndef NAV_I -# define NAV_I 0 // +# define NAV_I 0.4 // Wind control #endif #ifndef NAV_D -# define NAV_D 0.015 // +# define NAV_D 0.00 // #endif #ifndef NAV_IMAX # define NAV_IMAX 30 // degrees @@ -767,7 +767,7 @@ #endif // guess! #ifndef LOG_OPTFLOW -# define LOG_OPTFLOW DISABLED +# define LOG_OPTFLOW DISABLED #endif // calculate the default log_bitmask