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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-13 23:37:16 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-13 23:37:16 +0200 |
| commit | a702a350ce21017109c83024b771300c84751e5f (patch) | |
| tree | 51f9d41c9b2fd9c8558bec85476bc468900f74ef /src/modules/fw_pos_control_l1 | |
| parent | e14d4751423e21a9ce052e1f6760f929d3694515 (diff) | |
| parent | 195c4005e1bae41fcead6ff609f05a1058e6256d (diff) | |
| download | px4-firmware-a702a350ce21017109c83024b771300c84751e5f.tar.gz px4-firmware-a702a350ce21017109c83024b771300c84751e5f.tar.bz2 px4-firmware-a702a350ce21017109c83024b771300c84751e5f.zip | |
Merge remote-tracking branch 'upstream/mtecs' into navigator_rewrite
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index c95bf1dc9..bbbb8f9db 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -65,7 +65,7 @@ PARAM_DEFINE_INT32(MT_ENABLED, 1); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f); +PARAM_DEFINE_FLOAT(MT_THR_FF, 0.7f); /** * Total Energy Rate Control P @@ -75,7 +75,7 @@ PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f); +PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f); /** * Total Energy Rate Control I @@ -85,7 +85,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f); +PARAM_DEFINE_FLOAT(MT_THR_I, 0.25f); /** * Total Energy Rate Control Offset (Cruise throttle sp) @@ -104,7 +104,7 @@ PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.1f); +PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.4f); /** * Energy Distribution Rate Control P @@ -182,7 +182,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f); * @max 10.0f * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f); +PARAM_DEFINE_FLOAT(MT_FPA_P, 0.3f); /** * D gain for the altitude control @@ -210,7 +210,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f); * @unit deg * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_FPA_MIN, -10.0f); +PARAM_DEFINE_FLOAT(MT_FPA_MIN, -20.0f); /** * Maximal flight path angle setpoint @@ -237,7 +237,7 @@ PARAM_DEFINE_FLOAT(MT_A_LP, 1.0f); * @max 10.0f * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f); +PARAM_DEFINE_FLOAT(MT_ACC_P, 0.3f); /** * D gain for the airspeed control |