From 114e6a35512263cf01083f65e56cb3b84d4efc26 Mon Sep 17 00:00:00 2001 From: rmackay9 <rmackay9@yahoo.com> Date: Sat, 21 Apr 2012 23:24:57 +0900 Subject: [PATCH] ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion --- ArduCopter/ArduCopter.pde | 5 +---- ArduCopter/defines.h | 4 ++-- 2 files changed, 3 insertions(+), 6 deletions(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index 1e39b0abc..843d034be 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -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; diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h index 693f42987..b0a5de2a5 100644 --- a/ArduCopter/defines.h +++ b/ArduCopter/defines.h @@ -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 -- GitLab