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Plane: improved quadplane default gains

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0.25 is better for an average quadplane for roll/pitch

0.5 is a bit high for accel-z, 0.3 is better
This commit is contained in:
Andrew Tridgell 2016-02-29 21:46:27 +11:00
parent 93ac82e1f6
commit f35d05e374
1 changed files with 3 additions and 3 deletions
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6
ArduPlane/quadplane.h
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@ -60,8 +60,8 @@ public:
private:
AP_AHRS_NavEKF &ahrs;
AP_Vehicle::MultiCopter aparm;
AC_PID pid_rate_roll {0.15, 0.1, 0.004, 2000, 20, 0.02};
AC_PID pid_rate_pitch{0.15, 0.1, 0.004, 2000, 20, 0.02};
AC_PID pid_rate_roll {0.25, 0.1, 0.004, 2000, 20, 0.02};
AC_PID pid_rate_pitch{0.25, 0.1, 0.004, 2000, 20, 0.02};
AC_PID pid_rate_yaw {0.15, 0.1, 0.004, 2000, 20, 0.02};
AC_P p_stabilize_roll{4.5};
AC_P p_stabilize_pitch{4.5};
@ -72,7 +72,7 @@ private:
AC_P p_pos_xy{1};
AC_P p_alt_hold{1};
AC_P p_vel_z{5};
AC_PID pid_accel_z{0.5, 1, 0, 800, 20, 0.02};
AC_PID pid_accel_z{0.3, 1, 0, 800, 20, 0.02};
AC_PI_2D pi_vel_xy{1.0, 0.5, 1000, 5, 0.02};
AP_Int8 frame_class;