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OpenSource
Ardupilot
Commits
114e6a35
Commit
114e6a35
authored
13 years ago
by
rmackay9
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ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion
parent
c62ce957
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2 changed files
ArduCopter/ArduCopter.pde
+1
-4
1 addition, 4 deletions
ArduCopter/ArduCopter.pde
ArduCopter/defines.h
+2
-2
2 additions, 2 deletions
ArduCopter/defines.h
with
3 additions
and
6 deletions
ArduCopter/ArduCopter.pde
+
1
−
4
View file @
114e6a35
...
...
@@ -2043,10 +2043,6 @@ static void tuning(){
switch
(
g
.
radio_tuning
){
case
CH6_DAMP
:
g
.
stabilize_d
.
set
(
tuning_value
);
break
;
case
CH6_RATE_KD
:
g
.
pid_rate_roll
.
kD
(
tuning_value
);
g
.
pid_rate_pitch
.
kD
(
tuning_value
);
...
...
@@ -2062,6 +2058,7 @@ static void tuning(){
g
.
pi_stabilize_pitch
.
kI
(
tuning_value
);
break
;
case
CH6_DAMP
:
case
CH6_STABILIZE_KD
:
g
.
stabilize_d
=
tuning_value
;
break
;
...
...
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ArduCopter/defines.h
+
2
−
2
View file @
114e6a35
...
...
@@ -145,7 +145,7 @@
// Attitude
#define CH6_STABILIZE_KP 1
#define CH6_STABILIZE_KI 2
#define CH6_STABILIZE_KD 29
#define CH6_STABILIZE_KD 29
// duplicate with CH6_DAMP
#define CH6_YAW_KP 3
#define CH6_YAW_KI 24
// Rate
...
...
@@ -172,7 +172,7 @@
// altitude controller
#define CH6_THR_HOLD_KP 14
#define CH6_Z_GAIN 15
#define CH6_DAMP 16
#define CH6_DAMP 16
// duplicate with CH6_YAW_RATE_KD
// optical flow controller
#define CH6_OPTFLOW_KP 17
...
...
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