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Set better defaults for fixed wing attitude controllers

This commit is contained in:
Lorenz Meier 2015-07-04 11:39:12 +02:00
parent 8f4b9c02f0
commit ec85918e40
1 changed files with 6 additions and 6 deletions
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12
src/modules/fw_att_control/fw_att_control_params.c
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@ -64,7 +64,7 @@
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.4f);
/**
* Pitch rate proportional gain.
@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
/**
* Pitch rate integrator gain.
@ -88,7 +88,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
* @max 50.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_PR_I, 0.005f);
/**
* Maximum positive / up pitch rate.
@ -126,7 +126,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f);
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
/**
* Roll to Pitch feedforward gain.
@ -161,7 +161,7 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
* @max 100.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RR_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_RR_I, 0.005f);
/**
* Roll Integrator Anti-Windup
@ -247,7 +247,7 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
* @max 10.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RR_FF, 0.3f);
PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
/**
* Pitch rate feed forward