paparazzi/paparazzi — pull request #82 by flixr (2011-11-03 14:00:42+00:00)
Title: same behaviour for AP_MODE_HOVER and NAV when holding position

The horizontal control loops in hover and nav mode are slightly different, so if you tune in hover, your flight in nav may not be as good.

Assuming for now that you don't use the horizontal reference (GUIDANCE_H_USE_REF not defined and hence the ref is zero) and you are within HOLD_DISTANCE, I would expect the same behavior from nav (with "stay"on a waypoint) as with AP_MODE_HOVER_x

**This should fix that, but will change the behavior in AP_MODE_HOVER**
This means that if you tuned the p-gain and i-gain in AP_MODE_HOVER_x before,
you will have to divide the old p-gain by 2 and the old i-gain by 4.