From 373888b16d4efda40e36bceac87755114d5590c7 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 16 Dec 2013 12:53:38 +0400 Subject: multirotor_pos_control: default parameters updated --- .../multirotor_pos_control/multirotor_pos_control_params.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control_params.c') 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); -- cgit v1.2.3