PX4/Firmware — pull request #42 by dougweibel (2012-10-08 23:55:09+00:00)
Title: Changes to PID limits and saturaton and changes to FW attitude controls

Lorenz,

I have tested in HIL. Attitude control is working well with the 747 with the gain set below
Heading Limit 0.45
Heading P 1.0
Pitch P, Pitchrate P, Roll P, Rollrate P all 1.0
Pitch limit and pitchrate limit 0.35
Roll limit and roll rate limit 0.7

Currently pitch is just hard coded to hold a zero pitch attitude. Navigation control is using the very basic controller that was in place.