Skip to content
Snippets Groups Projects
Commit 09995aed authored by Jason Short's avatar Jason Short
Browse files

ACM: Softer Loiter Gains

parent 234a5dc6
No related branches found
No related tags found
No related merge requests found
...@@ -664,7 +664,7 @@ ...@@ -664,7 +664,7 @@
// Loiter control gains // Loiter control gains
// //
#ifndef LOITER_P #ifndef LOITER_P
# define LOITER_P .3 # define LOITER_P .7
#endif #endif
#ifndef LOITER_I #ifndef LOITER_I
# define LOITER_I 0.0 # define LOITER_I 0.0
...@@ -677,10 +677,10 @@ ...@@ -677,10 +677,10 @@
// Loiter Navigation control gains // Loiter Navigation control gains
// //
#ifndef LOITER_RATE_P #ifndef LOITER_RATE_P
# define LOITER_RATE_P 3.0 // # define LOITER_RATE_P 2.0 //
#endif #endif
#ifndef LOITER_RATE_I #ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.20 // Wind control # define LOITER_RATE_I 0.30 // Wind control
#endif #endif
#ifndef LOITER_RATE_D #ifndef LOITER_RATE_D
# define LOITER_RATE_D 0 // try 2 or 3 for LOITER_RATE 1 # define LOITER_RATE_D 0 // try 2 or 3 for LOITER_RATE 1
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment