diff options
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_params.c')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_params.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 2fe70698f..92fa94dcd 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -12,13 +12,13 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f); PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f); PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f); -PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.05f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f); PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f); PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f); PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f); -PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.01f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); |