diff options
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 */ |