From 01da37699887faf6e677d84e12954283e2e6b9e1 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Mon, 30 Oct 2023 20:24:29 -0300 Subject: [PATCH] Sub: revert P/D gains on roll/pitch to values on 4.1.0 --- libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h index 345859dc21..b460daf26b 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h @@ -8,13 +8,13 @@ // default angle controller PID gains // (Sub-specific defaults for parent class) -#define AC_ATC_SUB_ANGLE_P 10.0f +#define AC_ATC_SUB_ANGLE_P 6.0f #define AC_ATC_SUB_ACCEL_Y_MAX 110000.0f // default rate controller PID gains #define AC_ATC_SUB_RATE_RP_P 0.135f #define AC_ATC_SUB_RATE_RP_I 0.090f -#define AC_ATC_SUB_RATE_RP_D 0.010f +#define AC_ATC_SUB_RATE_RP_D 0.0036f #define AC_ATC_SUB_RATE_RP_IMAX 0.444f #define AC_ATC_SUB_RATE_RP_FILT_HZ 30.0f #define AC_ATC_SUB_RATE_YAW_P 0.180f