#define GPS_I2C
[...]
USW
#if defined(GPS_SER) || defined(GPS_I2C) #define KP_GPS_ROLL 0.012 //0.013 //0.008 //0.012 #define KD_GPS_ROLL 0.015 //0.012 //0.010 //0.015 #define KI_GPS_ROLL 0.001 //0.005 //0.000 //0.001 #define KP_GPS_PITCH 0.012 //0.013 #define KD_GPS_PITCH 0.015 //0.012 #define KI_GPS_PITCH 0.001 //0.005 #define GPS_MAX_ANGLE 22 // Maximun roll and pitch angle from gps position control #define DECLINATION_FACTOR 4
#define GPS_I2C
[...]
USW
#if defined(GPS_SER) || defined(GPS_I2C) #define KP_GPS_ROLL 0.012 //0.013 //0.008 //0.012 #define KD_GPS_ROLL 0.015 //0.012 //0.010 //0.015 #define KI_GPS_ROLL 0.001 //0.005 //0.000 //0.001 #define KP_GPS_PITCH 0.012 //0.013 #define KD_GPS_PITCH 0.015 //0.012 #define KI_GPS_PITCH 0.001 //0.005 #define GPS_MAX_ANGLE 22 // Maximun roll and pitch angle from gps position control #define DECLINATION_FACTOR 4