From 2f80ddd11a4c1028d3f795bc655f71ca1f3df054 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Fri, 5 Jun 2015 21:45:34 +0200 Subject: [PATCH] Correct the yaw gains to flyable values. --- ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d index 8ab65be7b9..bd99e0e554 100644 --- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d +++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d @@ -18,10 +18,11 @@ then param set MC_PITCHRATE_P 0.13 param set MC_PITCHRATE_I 0.05 param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 0.5 + param set MC_YAW_P 2.8 param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_I 0.1 param set MC_YAWRATE_D 0.0 + param set MC_YAW_FF 0.5 param set BAT_N_CELLS 4 fi