Controller/ EKF tuning.

1 files changed, 6 insertions, 6 deletions

diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c
index 422e9b90e..3eed83b5c 100644
--- a/apps/examples/control_demo/params.c
+++ b/apps/examples/control_demo/params.c
@@ -15,16 +15,16 @@ PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
 
 // stabilization mode
 PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.5f); // roll rate 2 aileron
-PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.5f); // pitch rate 2 elevator
+PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.2f); // pitch rate 2 elevator
 PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.2f); // yaw rate 2 rudder
 
 //  psi -> phi -> p
 PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f);      // heading 2 roll
 PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f);        // roll to roll rate
-PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.5f);  // roll limit, 28 deg
+PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f);  // roll limit, 28 deg
 
 // velocity -> theta
-PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.1f);      // velocity to pitch angle PID, prop gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f);      // velocity to pitch angle PID, prop gain
 PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);      // integral gain
 PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);      // derivative gain
 PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);   // derivative low-pass
@@ -34,7 +34,7 @@ PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f);      // the min commanded pitch angle
 
 
 // theta -> q
-PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 2.0f);      // pitch angle to pitch-rate PID
+PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);      // pitch angle to pitch-rate PID
 PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
 PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
 PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
@@ -49,7 +49,7 @@ PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
 
 // crosstrack
 PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f);  // cross-track to yaw angle limit 90 deg
-PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.002f);     // cross-track to yaw angle gain
+PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f);     // cross-track to yaw angle gain
 
 // speed command
 PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);       // minimum commanded velocity
@@ -60,4 +60,4 @@ PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);       // maximum commanded velocity
 PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);     // trim aileron, normalized (-1,1)
 PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f);   // trim elevator (-1,1)
 PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);     // trim rudder (-1,1)
-PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.81f);    // trim throttle (0,1)
+PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f);     // trim throttle (0,1)