diff options
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 22 |
1 files changed, 11 insertions, 11 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 f8db70304..194dfa150 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -55,7 +55,7 @@ * @max 1 * @group mTECS */ -PARAM_DEFINE_INT32(MT_ENABLED, 0); +PARAM_DEFINE_INT32(MT_ENABLED, 1); /** * Total Energy Rate Control FF @@ -64,7 +64,7 @@ PARAM_DEFINE_INT32(MT_ENABLED, 0); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_FF, 1.0f); +PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f); /** * Total Energy Rate Control P @@ -73,7 +73,7 @@ PARAM_DEFINE_FLOAT(MT_THR_FF, 1.0f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f); +PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f); /** * Total Energy Rate Control I @@ -82,7 +82,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_I, 0.0f); +PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f); /** * Total Energy Rate Control OFF (Cruise throttle) @@ -100,7 +100,7 @@ PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_FF, 1.0f); +PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.1f); /** * Energy Distribution Rate Control P @@ -109,7 +109,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_FF, 1.0f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_P, 0.1f); +PARAM_DEFINE_FLOAT(MT_PIT_P, 0.03f); /** * Energy Distribution Rate Control I @@ -118,7 +118,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_P, 0.1f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_I, 0.0f); +PARAM_DEFINE_FLOAT(MT_PIT_I, 0.03f); /** @@ -166,7 +166,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f); * @unit deg * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_MAX, 45.0f); +PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f); /** * P gain for the altitude control @@ -175,7 +175,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MAX, 45.0f); * @max 10.0f * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_FPA_P, 0.1f); +PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f); /** * D gain for the altitude control @@ -202,7 +202,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f); * @unit deg * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_FPA_MIN, -30.0f); +PARAM_DEFINE_FLOAT(MT_FPA_MIN, -10.0f); /** * Maximal flight path angle setpoint @@ -222,7 +222,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f); * @max 10.0f * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_ACC_P, 0.1f); +PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f); /** * Minimal acceleration (air) |