From e470bf2354e4c7da53e299e4b341b3a7b953ee24 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 7 Mar 2012 18:31:02 +1100 Subject: [PATCH] DCM: minor tuning based on testing my quad --- libraries/AP_DCM/AP_DCM.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_DCM/AP_DCM.h b/libraries/AP_DCM/AP_DCM.h index 1a65c23836..d1a0890653 100644 --- a/libraries/AP_DCM/AP_DCM.h +++ b/libraries/AP_DCM/AP_DCM.h @@ -25,9 +25,9 @@ class AP_DCM public: // Constructors AP_DCM(IMU *imu, GPS *&gps) : - _kp_roll_pitch(12.0), + _kp_roll_pitch(18.0), _ki_roll_pitch(0.0006), - _kp_yaw(3.0), + _kp_yaw(9.0), _ki_yaw(0.003), _gps(gps), _imu(imu),