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Higher default gains for multicopter position control

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Lorenz Meier
2016-02-29 15:17:12 +01:00
parent 9d35b05889
commit 7adaccfe67
1 changed files with 7 additions and 4 deletions
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11
src/modules/mc_pos_control/mc_pos_control_params.c
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@@ -204,7 +204,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f);
PARAM_DEFINE_FLOAT(MPC_XY_P, 1.25f);
/**
* Proportional gain for horizontal velocity error
@@ -242,10 +242,12 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
*
* @unit m/s
* @min 0.0
* @max 20.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 8.0f);
/**
* Horizontal velocity feed forward
@@ -383,8 +385,9 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
*
* @unit m/s/s
* @min 2.0
* @max 10.0
* @max 15.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 6.0f);
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f);