From 7edd16e5fe129d69ac91b61708bb140506aee64c Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Sat, 21 Jan 2012 22:09:13 -0800
Subject: [PATCH] Added Loiter_D to replace Nav_P for better separation of
 loiter and navigation tuning. Upped Nav_P defaults to 3 based on windy flight
 testing Added minimum WP speed define of 1m/s Upped loiter_I for better wind
 performance - was not seeing any overshoot in logs Made Nav_I default of 0,
 since we are not using it in the code.

---
 ArduCopter/config.h | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 698cdd6d75..b309f5d6fa 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -622,20 +622,23 @@
 # define LOITER_P			1.5		// was .25 in previous
 #endif
 #ifndef LOITER_I
-# define LOITER_I			0.04	// Wind control
+# define LOITER_I			0.09	// Wind control
 #endif
 #ifndef LOITER_IMAX
 # define LOITER_IMAX		30		// degrees°
 #endif
+#ifndef LOITER_D
+# define LOITER_D			2.2		// rate control
+#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // WP Navigation control gains
 //
 #ifndef NAV_P
-# define NAV_P				2.2			// 3 was causing rapid oscillations in Loiter
+# define NAV_P				3.0			// 3 was causing rapid oscillations in Loiter
 #endif
 #ifndef NAV_I
-# define NAV_I				0.15		// used in traverals
+# define NAV_I				0			//
 #endif
 #ifndef NAV_IMAX
 # define NAV_IMAX			30			// degrees
@@ -645,6 +648,10 @@
 # define WAYPOINT_SPEED_MAX			600			// for 6m/s error = 13mph
 #endif
 
+#ifndef WAYPOINT_SPEED_MIN
+# define WAYPOINT_SPEED_MIN			100			// for 6m/s error = 13mph
+#endif
+
 
 //////////////////////////////////////////////////////////////////////////////
 // Throttle control gains