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Commit 072c2479 authored by rmackay9's avatar rmackay9
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ArduCopter: reduce stabilize roll, pitch and rate yaw IMAX values

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ArduCopter/config.h
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...@@ -595,19 +595,19 @@ ...@@ -595,19 +595,19 @@
#ifdef MOTORS_JD880 #ifdef MOTORS_JD880
# define STABILIZE_ROLL_P 3.7 # define STABILIZE_ROLL_P 3.7
# define STABILIZE_ROLL_I 0.0 # define STABILIZE_ROLL_I 0.0
# define STABILIZE_ROLL_IMAX 40.0 // degrees # define STABILIZE_ROLL_IMAX 8.0 // degrees
# define STABILIZE_PITCH_P 3.7 # define STABILIZE_PITCH_P 3.7
# define STABILIZE_PITCH_I 0.0 # define STABILIZE_PITCH_I 0.0
# define STABILIZE_PITCH_IMAX 40.0 // degrees # define STABILIZE_PITCH_IMAX 8.0 // degrees
#endif #endif
#ifdef MOTORS_JD850 #ifdef MOTORS_JD850
# define STABILIZE_ROLL_P 4.2 # define STABILIZE_ROLL_P 4.2
# define STABILIZE_ROLL_I 0.0 # define STABILIZE_ROLL_I 0.0
# define STABILIZE_ROLL_IMAX 40.0 // degrees # define STABILIZE_ROLL_IMAX 8.0 // degrees
# define STABILIZE_PITCH_P 4.2 # define STABILIZE_PITCH_P 4.2
# define STABILIZE_PITCH_I 0.0 # define STABILIZE_PITCH_I 0.0
# define STABILIZE_PITCH_IMAX 40.0 // degrees # define STABILIZE_PITCH_IMAX 8.0 // degrees
#endif #endif
...@@ -633,7 +633,7 @@ ...@@ -633,7 +633,7 @@
# define STABILIZE_ROLL_I 0.01 # define STABILIZE_ROLL_I 0.01
#endif #endif
#ifndef STABILIZE_ROLL_IMAX #ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 40 // degrees # define STABILIZE_ROLL_IMAX 8.0 // degrees
#endif #endif
#ifndef STABILIZE_PITCH_P #ifndef STABILIZE_PITCH_P
...@@ -643,7 +643,7 @@ ...@@ -643,7 +643,7 @@
# define STABILIZE_PITCH_I 0.01 # define STABILIZE_PITCH_I 0.01
#endif #endif
#ifndef STABILIZE_PITCH_IMAX #ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 40 // degrees # define STABILIZE_PITCH_IMAX 8.0 // degrees
#endif #endif
#ifndef STABILIZE_YAW_P #ifndef STABILIZE_YAW_P
...@@ -653,7 +653,7 @@ ...@@ -653,7 +653,7 @@
# define STABILIZE_YAW_I 0.02 # define STABILIZE_YAW_I 0.02
#endif #endif
#ifndef STABILIZE_YAW_IMAX #ifndef STABILIZE_YAW_IMAX
# define STABILIZE_YAW_IMAX 8 // degrees * 100 # define STABILIZE_YAW_IMAX 8.0 // degrees * 100
#endif #endif
...@@ -670,7 +670,7 @@ ...@@ -670,7 +670,7 @@
# define RATE_ROLL_D 0.005 # define RATE_ROLL_D 0.005
#endif #endif
#ifndef RATE_ROLL_IMAX #ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 5 // degrees # define RATE_ROLL_IMAX 5.0 // degrees
#endif #endif
#ifndef RATE_PITCH_P #ifndef RATE_PITCH_P
...@@ -683,7 +683,7 @@ ...@@ -683,7 +683,7 @@
# define RATE_PITCH_D 0.005 # define RATE_PITCH_D 0.005
#endif #endif
#ifndef RATE_PITCH_IMAX #ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 5 // degrees # define RATE_PITCH_IMAX 5.0 // degrees
#endif #endif
#ifndef RATE_YAW_P #ifndef RATE_YAW_P
...@@ -696,7 +696,7 @@ ...@@ -696,7 +696,7 @@
# define RATE_YAW_D 0.000 # define RATE_YAW_D 0.000
#endif #endif
#ifndef RATE_YAW_IMAX #ifndef RATE_YAW_IMAX
# define RATE_YAW_IMAX 50 // degrees # define RATE_YAW_IMAX 8.0 // degrees
#endif #endif
......
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