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MC attitude controller: Set better defaults

This commit is contained in:
Lorenz Meier 2015-06-21 19:00:06 +02:00
parent 9365c5a438
commit 62b102d0b4
1 changed files with 9 additions and 9 deletions
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18
src/modules/mc_att_control/mc_att_control_params.c
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@ -50,7 +50,7 @@
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f);
/**
* Roll rate P gain
@ -70,7 +70,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.05f);
/**
* Roll rate D gain
@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.003f);
/**
* Roll rate feedforward
@ -101,7 +101,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
/**
* Pitch rate P gain
@ -121,7 +121,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.05f);
/**
* Pitch rate D gain
@ -131,7 +131,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.003f);
/**
* Pitch rate feedforward
@ -152,7 +152,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_FF, 0.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
/**
* Yaw rate P gain
@ -162,7 +162,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.2f);
/**
* Yaw rate I gain
@ -172,7 +172,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.1f);
/**
* Yaw rate D gain