diff options
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 20a482620..9e3508572 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -819,7 +819,7 @@ MulticopterPositionControl::task_main() /* calculate velocity controller gain multiplier to convert desired acceleration to thrust * to dynamically adjust gain depending on vehicle mass (estimated via hovering thrust) */ - float gain_mult = fminf(fmaxf(-thrust_int(2), 0.3f), 0.7f) / CONSTANTS_ONE_G; + float gain_mult = fminf(fmaxf(-thrust_int(2), 0.1f), 0.8f) / CONSTANTS_ONE_G; /* thrust vector in NED frame */ math::Vector<3> thrust_sp = (vel_err.emult(_params.vel_p) + vel_err_d.emult(_params.vel_d) + thrust_int) * gain_mult; |