From c940c2538b14b1d8d25bdf024780eaebfbc8d14b Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Sun, 15 Dec 2013 09:15:44 -0500
Subject: [PATCH] TradHeli: disable AutoTune for Tradheli compile
We need the flash space, and this probably won't work for tradheli anyway since tradheli needs most of the control from Feedforward rather than P term. And D-term is very very bad.
---
ArduCopter/config.h | 29 ++++++++++++++++-------------
1 file changed, 16 insertions(+), 13 deletions(-)
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 933c664cf..f0b9eb7be 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -103,25 +103,28 @@
/////////////////////////////////////////////////////////////////////////////////
// TradHeli defaults
#if FRAME_CONFIG == HELI_FRAME
- # define RC_FAST_SPEED 125
- # define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
- # define RATE_INTEGRATOR_LEAK_RATE 0.02f
- # define RATE_ROLL_D 0
- # define RATE_PITCH_D 0
- # define HELI_PITCH_FF 0
- # define HELI_ROLL_FF 0
- # define HELI_YAW_FF 0
- # define STABILIZE_THR THROTTLE_MANUAL_HELI
- # define MPU6K_FILTER 10
- # define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
- # define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
- # define THR_MIN_DEFAULT 0
+ # define RC_FAST_SPEED 125
+ # define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
+ # define RATE_INTEGRATOR_LEAK_RATE 0.02f
+ # define RATE_ROLL_D 0
+ # define RATE_PITCH_D 0
+ # define HELI_PITCH_FF 0
+ # define HELI_ROLL_FF 0
+ # define HELI_YAW_FF 0
+ # define STABILIZE_THR THROTTLE_MANUAL_HELI
+ # define MPU6K_FILTER 10
+ # define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
+ # define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
+ # define THR_MIN_DEFAULT 0
+ # define AUTOTUNE DISABLED
+
# ifndef HELI_CC_COMP
#define HELI_CC_COMP DISABLED
#endif
# ifndef HELI_PIRO_COMP
#define HELI_PIRO_COMP DISABLED
#endif
+
#endif
/////////////////////////////////////////////////////////////////////////////////
--
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