Copter: Set better default Rate PIDs for TradHeli

ArduCopter/Parameters.h

@@ -529,9 +529,15 @@ public:
 
         // PID controller	    initial P	      initial I         initial D       initial imax        initial filt hz     pid rate
         //---------------------------------------------------------------------------------------------------------------------------------
+#if FRAME_CONFIG == HELI_FRAME
+        pid_rate_roll           (RATE_ROLL_P,     RATE_ROLL_I,      RATE_ROLL_D,    RATE_ROLL_IMAX,     RATE_ROLL_FILT_HZ,  MAIN_LOOP_SECONDS, RATE_ROLL_FF),
+        pid_rate_pitch          (RATE_PITCH_P,    RATE_PITCH_I,     RATE_PITCH_D,   RATE_PITCH_IMAX,    RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS, RATE_PITCH_FF),
+        pid_rate_yaw            (RATE_YAW_P,      RATE_YAW_I,       RATE_YAW_D,     RATE_YAW_IMAX,      RATE_YAW_FILT_HZ,   MAIN_LOOP_SECONDS, RATE_YAW_FF),
+#else
         pid_rate_roll           (RATE_ROLL_P,     RATE_ROLL_I,      RATE_ROLL_D,    RATE_ROLL_IMAX,     RATE_ROLL_FILT_HZ,  MAIN_LOOP_SECONDS),
         pid_rate_pitch          (RATE_PITCH_P,    RATE_PITCH_I,     RATE_PITCH_D,   RATE_PITCH_IMAX,    RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS),
         pid_rate_yaw            (RATE_YAW_P,      RATE_YAW_I,       RATE_YAW_D,     RATE_YAW_IMAX,      RATE_YAW_FILT_HZ,   MAIN_LOOP_SECONDS),
+#endif
 
         pi_vel_xy               (VEL_XY_P,        VEL_XY_I,                         VEL_XY_IMAX,        VEL_XY_FILT_HZ,     WPNAV_LOITER_UPDATE_TIME),
 

ArduCopter/config.h

@@ -104,9 +104,24 @@
 #if FRAME_CONFIG == HELI_FRAME
   # define RC_FAST_SPEED                        125
   # define WP_YAW_BEHAVIOR_DEFAULT              WP_YAW_BEHAVIOR_LOOK_AHEAD
-  # define RATE_ROLL_D                          0
-  # define RATE_PITCH_D                         0
-  # define MPU6K_FILTER                         10
+  # define RATE_ROLL_P                          0.02
+  # define RATE_ROLL_I                          0.5
+  # define RATE_ROLL_D                          0.001
+  # define RATE_ROLL_IMAX                       4500
+  # define RATE_ROLL_FF                         0.05
+  # define RATE_ROLL_FILT_HZ                    20.0f
+  # define RATE_PITCH_P                         0.02
+  # define RATE_PITCH_I                         0.5
+  # define RATE_PITCH_D                         0.001
+  # define RATE_PITCH_IMAX                      4500
+  # define RATE_PITCH_FF                        0.05
+  # define RATE_PITCH_FILT_HZ                   20.0f
+  # define RATE_YAW_P                           0.15
+  # define RATE_YAW_I                           0.100
+  # define RATE_YAW_D                           0.003
+  # define RATE_YAW_IMAX                        4500
+  # define RATE_YAW_FF                          0.02
+  # define RATE_YAW_FILT_HZ                     20.0f
   # define HELI_STAB_COLLECTIVE_MIN_DEFAULT     0
   # define HELI_STAB_COLLECTIVE_MAX_DEFAULT     1000
   # define THR_MIN_DEFAULT                      0