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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-16 12:53:38 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-16 12:53:38 +0400 |
| commit | 373888b16d4efda40e36bceac87755114d5590c7 (patch) | |
| tree | 88a6ec59b6b80d69d3e14cff189a8d4ab4d69516 /src/modules/multirotor_pos_control/multirotor_pos_control_params.c | |
| parent | 7cbb4cfdb8913c8ecc3b5237878656ec6675bd38 (diff) | |
| download | px4-firmware-373888b16d4efda40e36bceac87755114d5590c7.tar.gz px4-firmware-373888b16d4efda40e36bceac87755114d5590c7.tar.bz2 px4-firmware-373888b16d4efda40e36bceac87755114d5590c7.zip | |
multirotor_pos_control: default parameters updated
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control_params.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c index b7041e4d5..cfb5dc0d4 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -45,14 +45,14 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.2f); PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.8f); PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); PARAM_DEFINE_FLOAT(MPC_Z_D, 0.0f); -PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f); -PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.1f); PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 3.0f); PARAM_DEFINE_FLOAT(MPC_XY_P, 0.5f); PARAM_DEFINE_FLOAT(MPC_XY_D, 0.0f); -PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.2f); -PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.0f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.05f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.0f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f); |