Diff: uavx_multicopter.h

Revision:

2:90292f8bd179

Parent:

0:62a1c91a859a

--- a/uavx_multicopter.h	Fri Feb 25 01:35:24 2011 +0000
+++ b/uavx_multicopter.h	Tue Apr 26 12:12:29 2011 +0000
@@ -2,7 +2,7 @@
 // =                              UAVXArm Quadrocopter Controller                                =
 // =                           Copyright (c) 2008 by Prof. Greg Egan                             =
 // =                 Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer                   =
-// =                     http://code.google.com/p/uavp-mods/ http://uavp.ch                      =
+// =                           http://code.google.com/p/uavp-mods/                               =
 // ===============================================================================================
 
 //    This is part of UAVXArm.
@@ -19,19 +19,19 @@
 //    If not, see http://www.gnu.org/licenses/
 
    const int8 DefaultParams[MAX_PARAMETERS][2] = {
-    {20,0},            // RollKp,             01
-    {12,0},             // RollKi,            02
-    {50, 0},            // RollKd,            03
-    {0,true},            // HorizDampKp,        04c //-1
+    {15,0},            // RollKp,             01
+    {80,0},             // RollKi,            02
+    {0, 0},            // RollKd,            03
+    {0,true},            // was HorizDampKp,        04c //-1
     {5,0},                 // RollIntLimit,    05
-    {20,0},             // PitchKp,            06
-    {12,0},             // PitchKi,            07
-    {50,0},                 // PitchKd,            08
-    {8,0},                 // AltKp,            09
+    {15,0},             // PitchKp,            06
+    {80,0},             // PitchKi,            07
+    {0,0},                 // PitchKd,            08
+    {12,0},                 // AltKp,            09
     {5,0},                 // PitchIntLimit,    10
     
-    {30,0},             // YawKp,             11
-    {25,0},             // YawKi,            12
+    {20,0},             // YawKp,             11
+    {10,0},             // was YawKi,            12
     {0,0},                 // YawKd,            13
     {25,0},                 // YawLimit,        14
     {2,0},                 // YawIntLimit,        15
@@ -41,7 +41,7 @@
     {20,true},             // CamRollKp,        19c
     {45,true},             // PercentCruiseThr,20c 
     
-    {0,true},             // VertDampKp,        21c //-1
+    {5,true},             // VertDamp,        21c //-1
     {0,true},             // MiddleDU,        22c
     {20,true},             // PercentIdleThr,    23c
     {0,true},             // MiddleLR,        24c
@@ -64,8 +64,8 @@
     {1,true},            // CamRollTrim,        40c
 
     {16,0},            // NavKd            41
-    {1,true},            // VertDampDecay    42c
-    {1,true},            // HorizDampDecay    43c
+    {1,true},            // was VertDampDecay    42c
+    {1,true},            // was HorizDampDecay    43c
     {56,true},            // BaroScale        44c
     {UAVXTelemetry,true}, // TelemetryType    45c
     {8,0},                // MaxDescentRateDmpS     46