Minimum throttle in Config.H now 200 was 120 causing problems in high performance Multicopters

[GoogleCodeExporter]

What steps will reproduce the problem?
Multicopter with higher performance than standard target copter in Version 2.6 
of Arducopter.

What is the expected output? What do you see instead?
1. Expect Normal throttle range -> Get Tries to take off at almost minimum 
throttle stick setting and very fast throttle response.
2. Expect copter to maintain altitude when switch to Alt Hold mode -> Get 
Immediate drop on entry to Alt Hold requireing immediate throttle correction up 
also resulting in immediate climb when switch back to Stabilize.

This issue was caused by switching minimum throttle setting in config.h of 
Arducopter 2.6 to 200 from original which was around 120.

I believe the solution would be to provide 3 or 4 user switchable settings 
rather than free user settable parameter because re-tuning of all PIDs is 
required for each change.

Please use labels and text to provide additional information.

Original issue reported on code.google.com by garyrmccray@gmail.com on 26 Jun 2012 at 5:21

[GoogleCodeExporter]

This is changed back to 130 in the trunk. It's also now a parameter that can be 
set manually from the MP.
Adjusting this setting should NOT require PIDs to change. The internal system 
has no idea what the minimum is and doesn't care. That value is only for user 
input, not control or output.
Jason

Original comment by jasonshort on 26 Jun 2012 at 5:28

• Changed state: Fixed

[GoogleCodeExporter]

Sorry Jason,
I was having a lot of problems with this value.
And the parameter list Minimum Throttle setting didn't seem to have any 
affect.
I take it that the parameter list MavLink value now actually adjusts this.
If you see this could you let me know which Arducopter source file contains 
the code that maps the MavLink supplied parameter data to the Arducopter 
variables.
I am trying to provide some value in clarifying and supplementing Wiki data 
and my intention is to also try and do some dood with the Arducopter source.
I am an OK C programmer and have a lot of history with Microchip PICs but am 
new to Atmel and Arduino.
Thank You, Gary McCray grmccray@sonic.net

Original comment by garyrmccray@gmail.com on 26 Jun 2012 at 7:02

[GoogleCodeExporter]

No Worries, 
Changing that value caught a lot of people off-gaurd.  The unrealized trunk 
code has the patch that fixes the parameter. That won't be released for a week. 
Unil then you can manually change the value in config.h.

Look for this:
#ifndef MINIMUM_THROTTLE
# define MINIMUM_THROTTLE   130
#endif

Original comment by jasonshort on 26 Jun 2012 at 10:27