[paparazzi-commits] [4633] disable integrator term in rate by default

[Felix Ruess]

Revision: 4633
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4633
Author:   flixr
Date:     2010-03-05 00:28:59 +0000 (Fri, 05 Mar 2010)
Log Message:
-----------
disable integrator term in rate by default

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_rate.c

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_rate.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_rate.c   
2010-03-05 00:27:38 UTC (rev 4632)
+++ paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_rate.c   
2010-03-05 00:28:59 UTC (rev 4633)
@@ -46,13 +46,13 @@
 #define BOOZ_STABILIZATION_RATE_DDGAIN_R 0
 #endif
 #ifndef BOOZ_STABILIZATION_RATE_IGAIN_P
-#define BOOZ_STABILIZATION_RATE_IGAIN_P -64
+#define BOOZ_STABILIZATION_RATE_IGAIN_P 0
 #endif
 #ifndef BOOZ_STABILIZATION_RATE_IGAIN_Q
-#define BOOZ_STABILIZATION_RATE_IGAIN_Q -64
+#define BOOZ_STABILIZATION_RATE_IGAIN_Q 0
 #endif
 #ifndef BOOZ_STABILIZATION_RATE_IGAIN_R
-#define BOOZ_STABILIZATION_RATE_IGAIN_R -32
+#define BOOZ_STABILIZATION_RATE_IGAIN_R 0
 #endif
 #ifndef BOOZ_STABILIZATION_RATE_TAU
 #define BOOZ_STABILIZATION_RATE_TAU 4