From bd1d96dff92c0f843fa69d0e795f9a36621bd287 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Fri, 28 Oct 2016 00:00:21 +0200 Subject: [PATCH] BEEBRAIN defaults (bonus commit) --- src/main/target/NAZE/config.c | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/src/main/target/NAZE/config.c b/src/main/target/NAZE/config.c index 9efa2c5830..b47fe55744 100755 --- a/src/main/target/NAZE/config.c +++ b/src/main/target/NAZE/config.c @@ -46,6 +46,7 @@ void targetConfiguration(master_t *config) config->gyro_lpf = 1; config->gyro_soft_lpf_hz = 100; config->gyro_soft_notch_hz_1 = 0; + config->gyro_soft_notch_hz_2 = 0; /*for (int channel = 0; channel < NON_AUX_CHANNEL_COUNT; channel++) { config->rxConfig.channelRanges[channel].min = 1180; @@ -53,12 +54,12 @@ void targetConfiguration(master_t *config) }*/ for (int profileId = 0; profileId < 2; profileId++) { - config->profile[profileId].pidProfile.P8[ROLL] = 55; - config->profile[profileId].pidProfile.I8[ROLL] = 50; - config->profile[profileId].pidProfile.D8[ROLL] = 25; - config->profile[profileId].pidProfile.P8[PITCH] = 65; - config->profile[profileId].pidProfile.I8[PITCH] = 60; - config->profile[profileId].pidProfile.D8[PITCH] = 28; + config->profile[profileId].pidProfile.P8[ROLL] = 70; + config->profile[profileId].pidProfile.I8[ROLL] = 70; + config->profile[profileId].pidProfile.D8[ROLL] = 30; + config->profile[profileId].pidProfile.P8[PITCH] = 80; + config->profile[profileId].pidProfile.I8[PITCH] = 80; + config->profile[profileId].pidProfile.D8[PITCH] = 30; config->profile[profileId].pidProfile.P8[YAW] = 180; config->profile[profileId].pidProfile.I8[YAW] = 45; config->profile[profileId].pidProfile.P8[PIDLEVEL] = 50; @@ -66,12 +67,14 @@ void targetConfiguration(master_t *config) config->profile[profileId].pidProfile.levelSensitivity = 1.0f; for (int rateProfileId = 0; rateProfileId < MAX_RATEPROFILES; rateProfileId++) { - config->profile[profileId].controlRateProfile[rateProfileId].rcRate8 = 110; + config->profile[profileId].controlRateProfile[rateProfileId].rcRate8 = 100; config->profile[profileId].controlRateProfile[rateProfileId].rcYawRate8 = 110; + config->profile[profileId].controlRateProfile[rateProfileId].rcExpo8 = 20; config->profile[profileId].controlRateProfile[rateProfileId].rates[ROLL] = 80; config->profile[profileId].controlRateProfile[rateProfileId].rates[PITCH] = 80; config->profile[profileId].controlRateProfile[rateProfileId].rates[YAW] = 80; + config->profile[profileId].pidProfile.dtermSetpointWeight = 254; config->profile[profileId].pidProfile.setpointRelaxRatio = 100; } }