Copter: remove x100 from IMAX definitions

ArduCopter/Parameters.h

@@ -440,27 +440,27 @@ public:
         // PID controller	initial P	        initial I		    initial D
         //          initial imax
         //-----------------------------------------------------------------------------------------------------
-        pid_rate_roll           (RATE_ROLL_P,           RATE_ROLL_I,            RATE_ROLL_D,            RATE_ROLL_IMAX * 100),
-        pid_rate_pitch          (RATE_PITCH_P,          RATE_PITCH_I,           RATE_PITCH_D,           RATE_PITCH_IMAX * 100),
-        pid_rate_yaw            (RATE_YAW_P,            RATE_YAW_I,             RATE_YAW_D,             RATE_YAW_IMAX * 100),
+        pid_rate_roll           (RATE_ROLL_P,           RATE_ROLL_I,            RATE_ROLL_D,            RATE_ROLL_IMAX),
+        pid_rate_pitch          (RATE_PITCH_P,          RATE_PITCH_I,           RATE_PITCH_D,           RATE_PITCH_IMAX),
+        pid_rate_yaw            (RATE_YAW_P,            RATE_YAW_I,             RATE_YAW_D,             RATE_YAW_IMAX),
 
-        pid_loiter_rate_lat     (LOITER_RATE_P,         LOITER_RATE_I,          LOITER_RATE_D,          LOITER_RATE_IMAX * 100),
-        pid_loiter_rate_lon     (LOITER_RATE_P,         LOITER_RATE_I,          LOITER_RATE_D,          LOITER_RATE_IMAX * 100),
+        pid_loiter_rate_lat     (LOITER_RATE_P,         LOITER_RATE_I,          LOITER_RATE_D,          LOITER_RATE_IMAX),
+        pid_loiter_rate_lon     (LOITER_RATE_P,         LOITER_RATE_I,          LOITER_RATE_D,          LOITER_RATE_IMAX),
 
         pid_throttle_rate       (THROTTLE_RATE_P,       THROTTLE_RATE_I,        THROTTLE_RATE_D,        THROTTLE_RATE_IMAX),
         pid_throttle_accel      (THROTTLE_ACCEL_P,      THROTTLE_ACCEL_I,       THROTTLE_ACCEL_D,       THROTTLE_ACCEL_IMAX),
-        pid_optflow_roll        (OPTFLOW_ROLL_P,        OPTFLOW_ROLL_I,         OPTFLOW_ROLL_D,         OPTFLOW_IMAX * 100),
-        pid_optflow_pitch       (OPTFLOW_PITCH_P,       OPTFLOW_PITCH_I,        OPTFLOW_PITCH_D,        OPTFLOW_IMAX * 100),
+        pid_optflow_roll        (OPTFLOW_ROLL_P,        OPTFLOW_ROLL_I,         OPTFLOW_ROLL_D,         OPTFLOW_IMAX),
+        pid_optflow_pitch       (OPTFLOW_PITCH_P,       OPTFLOW_PITCH_I,        OPTFLOW_PITCH_D,        OPTFLOW_IMAX),
 
         // PI controller	initial P			initial I			initial
         // imax
         //----------------------------------------------------------------------
-        pi_loiter_lat           (LOITER_P,              LOITER_I,               LOITER_IMAX * 100),
-        pi_loiter_lon           (LOITER_P,              LOITER_I,               LOITER_IMAX * 100),
+        pi_loiter_lat           (LOITER_P,              LOITER_I,               LOITER_IMAX),
+        pi_loiter_lon           (LOITER_P,              LOITER_I,               LOITER_IMAX),
 
-        pi_stabilize_roll       (STABILIZE_ROLL_P,      STABILIZE_ROLL_I,       STABILIZE_ROLL_IMAX * 100),
-        pi_stabilize_pitch      (STABILIZE_PITCH_P,     STABILIZE_PITCH_I,      STABILIZE_PITCH_IMAX * 100),
-        pi_stabilize_yaw        (STABILIZE_YAW_P,       STABILIZE_YAW_I,        STABILIZE_YAW_IMAX * 100),
+        pi_stabilize_roll       (STABILIZE_ROLL_P,      STABILIZE_ROLL_I,       STABILIZE_ROLL_IMAX),
+        pi_stabilize_pitch      (STABILIZE_PITCH_P,     STABILIZE_PITCH_I,      STABILIZE_PITCH_IMAX),
+        pi_stabilize_yaw        (STABILIZE_YAW_P,       STABILIZE_YAW_I,        STABILIZE_YAW_IMAX),
 
         pi_alt_hold             (ALT_HOLD_P,            ALT_HOLD_I,             ALT_HOLD_IMAX)
     {

ArduCopter/config.h

@@ -468,7 +468,7 @@
  #define OPTFLOW_PITCH_D 0.12f
 #endif
 #ifndef OPTFLOW_IMAX
- #define OPTFLOW_IMAX 1
+ #define OPTFLOW_IMAX 100
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -790,7 +790,7 @@
  # define STABILIZE_ROLL_I          0.0f
 #endif
 #ifndef STABILIZE_ROLL_IMAX
- # define STABILIZE_ROLL_IMAX    	8.0f            // degrees
+ # define STABILIZE_ROLL_IMAX    	0
 #endif
 
 #ifndef STABILIZE_PITCH_P
@@ -800,7 +800,7 @@
  # define STABILIZE_PITCH_I         0.0f
 #endif
 #ifndef STABILIZE_PITCH_IMAX
- # define STABILIZE_PITCH_IMAX   	8.0f            // degrees
+ # define STABILIZE_PITCH_IMAX   	0
 #endif
 
 #ifndef  STABILIZE_YAW_P
@@ -810,7 +810,7 @@
  # define STABILIZE_YAW_I           0.0f
 #endif
 #ifndef  STABILIZE_YAW_IMAX
- # define STABILIZE_YAW_IMAX        8.0f            // degrees * 100
+ # define STABILIZE_YAW_IMAX        0
 #endif
 
 #ifndef YAW_LOOK_AHEAD_MIN_SPEED
@@ -837,7 +837,7 @@
  # define RATE_ROLL_D        		0.004f
 #endif
 #ifndef RATE_ROLL_IMAX
- # define RATE_ROLL_IMAX         	5.0f                    // degrees
+ # define RATE_ROLL_IMAX         	500
 #endif
 
 #ifndef RATE_PITCH_P
@@ -850,7 +850,7 @@
  # define RATE_PITCH_D       		0.004f
 #endif
 #ifndef RATE_PITCH_IMAX
- # define RATE_PITCH_IMAX        	5.0f                    // degrees
+ # define RATE_PITCH_IMAX        	500
 #endif
 
 #ifndef RATE_YAW_P
@@ -863,7 +863,7 @@
  # define RATE_YAW_D              	0.000f
 #endif
 #ifndef RATE_YAW_IMAX
- # define RATE_YAW_IMAX            	8.0f          // degrees
+ # define RATE_YAW_IMAX            	800
 #endif
 
 
@@ -901,7 +901,7 @@
  # define LOITER_I             		0.0f
 #endif
 #ifndef LOITER_IMAX
- # define LOITER_IMAX          		30             // degrees
+ # define LOITER_IMAX          		0
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -917,7 +917,7 @@
  # define LOITER_RATE_D          	0.0f
 #endif
 #ifndef LOITER_RATE_IMAX
- # define LOITER_RATE_IMAX       	4               // maximum acceleration from I term build-up in m/s/s
+ # define LOITER_RATE_IMAX       	400             // maximum acceleration from I term build-up in cm/s/s
 #endif
 
 //////////////////////////////////////////////////////////////////////////////