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MPC_Z_VEL_I: changed default from 0.02 to 0.1 

- generally better attitude tracking
- much better altitude control immediately after takeoff (hover throttle offset)
- faster landing detection

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2019-07-23 17:22:07 +02:00 committed by Daniel Agar
parent be99d2f111
commit f0cdd9be60
1 changed files with 1 additions and 1 deletions
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2
src/modules/mc_pos_control/mc_pos_control_params.c
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@ -154,7 +154,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f);
* @decimal 3
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.1f);
/**
* Differential gain for vertical velocity error