Loiter Gains based on new SIM

13 years ago · 7f3e142fa8
1 changed files with 3 additions and 3 deletions
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@ -711,13 +711,13 @@
				@@ -711,13 +711,13 @@
 // Loiter Navigation control gains
 //
 #ifndef LOITER_RATE_P
-# define LOITER_RATE_P		2.0			//
+# define LOITER_RATE_P		2.5			//
 #endif
 #ifndef LOITER_RATE_I
-# define LOITER_RATE_I		0.2		// Wind control
+# define LOITER_RATE_I		0.08		// Wind control
 #endif
 #ifndef LOITER_RATE_D
-# define LOITER_RATE_D		0			// try 2 or 3 for LOITER_RATE 1
+# define LOITER_RATE_D		0.45			// try 2 or 3 for LOITER_RATE 1
 #endif
 #ifndef LOITER_RATE_IMAX
 # define LOITER_RATE_IMAX	30			// degrees