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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-12 12:51:21 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-12 12:51:21 +0200 |
| commit | a418498f1b040ea57633d02d813112d94c8567b9 (patch) | |
| tree | fec2f44a54c48daa9b1f8d7245e6ece03dc4c94a /src/modules/multirotor_att_control/multirotor_rate_control.c | |
| parent | 5c0ec659b6a6ff75dce799da8504ecabdf442f28 (diff) | |
| download | px4-firmware-a418498f1b040ea57633d02d813112d94c8567b9.tar.gz px4-firmware-a418498f1b040ea57633d02d813112d94c8567b9.tar.bz2 px4-firmware-a418498f1b040ea57633d02d813112d94c8567b9.zip | |
Hotfix: Use sensible default gains for users not being able to read instructions.
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_rate_control.c')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.c | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index 0a336be47..adb63186c 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -59,14 +59,14 @@ #include <systemlib/err.h> #include <drivers/drv_hrt.h> -PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */ -PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); /* same on Flamewheel */ +PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.005f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.2f); //PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); //PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */ -PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f); /* 0.15 F405 Flamewheel */ +PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f); PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); //PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f); //PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */ |