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Sub: revert P/D gains on roll/pitch to values on 4.1.0

This commit is contained in:
Willian Galvani 2023-10-30 20:24:29 -03:00
parent 95a6493cd0
commit 01da376998
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h
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@ -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