From afdc8cdf550078a029002bf30f61240a36ea575c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 18 Jun 2016 16:29:28 +0200 Subject: [PATCH] VTOL: Use standard attitude gains --- posix-configs/SITL/init/rcS_gazebo_standard_vtol | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol index 3487aedf0f..908ab2209a 100644 --- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol +++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol @@ -1,10 +1,6 @@ uorb start param load param set MAV_TYPE 20 -param set MC_PITCHRATE_P 0.3 -param set MC_ROLLRATE_P 0.3 -param set MC_YAW_P 2.0 -param set MC_YAWRATE_P 0.35 param set VT_TYPE 2 param set SYS_AUTOSTART 4010 param set SYS_RESTART_TYPE 2 @@ -22,6 +18,12 @@ param set CAL_ACC0_YSCALE 1.01 param set CAL_ACC0_ZSCALE 1.01 param set CAL_ACC1_XOFF 0.01 param set CAL_MAG0_XOFF 0.01 +param set MC_ROLLRATE_P 0.25 +param set MC_PITCHRATE_P 0.25 +param set MC_PITCH_P 5 +param set MC_ROLL_P 5 +param set MC_ROLLRATE_I 0.1 +param set MC_PITCHRATE_I 0.1 param set MPC_XY_P 0.15 param set MPC_XY_VEL_P 0.05 param set MPC_XY_VEL_D 0.005