From d8fd3eadfdd1fa5d0a456ee440f5712a6a792c27 Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
Date: Tue, 27 Sep 2011 07:36:12 +0800
Subject: [PATCH] heli config

---
 ArduCopter/APM_Config.h | 44 +++++++++++++++++++++++++++++++++++++++--
 1 file changed, 42 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index e95fdddeb1..ccd7e5c548 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -6,11 +6,11 @@
 
 //#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
 //#define GCS_PROTOCOL			GCS_PROTOCOL_NONE
-//#define HIL_MODE				HIL_MODE_ATTITUDE
+#define HIL_MODE				HIL_MODE_ATTITUDE
 
 //#define BROKEN_SLIDER		0		// 1 = yes (use Yaw to enter CLI mode)
 
-#define FRAME_CONFIG QUAD_FRAME
+#define FRAME_CONFIG HELI_FRAME
 	/*
 	options:
 	QUAD_FRAME
@@ -48,3 +48,43 @@
 
 //#define RATE_ROLL_I 	0.18
 //#define RATE_PITCH_I	0.18
+
+
+#define AUTO_RESET_LOITER 0
+#define FRAME_CONFIG HELI_FRAME
+
+// DEFAULT PIDS
+
+// roll
+#define STABILIZE_ROLL_P 0.70
+#define STABILIZE_ROLL_I 0.025
+#define STABILIZE_ROLL_D 0.04
+#define STABILIZE_ROLL_IMAX 7
+
+//pitch
+#define STABILIZE_PITCH_P 0.70
+#define STABILIZE_PITCH_I 0.025
+#define STABILIZE_PITCH_D 0.04
+#define STABILIZE_PITCH_IMAX 7
+
+// yaw stablise
+#define STABILIZE_YAW_P  0.7
+#define STABILIZE_YAW_I  0.02
+#define STABILIZE_YAW_D  0.0
+
+// yaw rate
+#define RATE_YAW_P  0.135   
+#define RATE_YAW_I  0.0
+#define RATE_YAW_D  0.0
+
+// throttle
+#define THROTTLE_P 0.2
+#define THROTTLE_I 0.001
+#define THROTTLE_IMAX 100
+
+// navigation
+#define NAV_LOITER_P  1.1
+#define NAV_LOITER_I  0.03
+#define NAV_LOITER_D  0.02
+#define NAV_LOITER_IMAX  10
+