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FW attitude control: Increase default integrator gains to compensate common airframe trim issues

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Lorenz Meier
2015-07-19 16:03:08 +02:00
parent fb8236e6b9
commit 06c45aadfb
1 changed files with 6 additions and 6 deletions
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src/modules/fw_att_control/fw_att_control_params.c
+6 -6
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@@ -84,11 +84,11 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
* This gain defines how much control response will result out of a steady * This gain defines how much control response will result out of a steady
* state error. It trims any constant error. * state error. It trims any constant error.
* *
* @min 0.0 * @min 0.005
* @max 50.0 * @max 0.5
* @group FW Attitude Control * @group FW Attitude Control
*/ */
PARAM_DEFINE_FLOAT(FW_PR_I, 0.005f); PARAM_DEFINE_FLOAT(FW_PR_I, 0.01f);
/** /**
* Maximum positive / up pitch rate. * Maximum positive / up pitch rate.
@@ -157,11 +157,11 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
* This gain defines how much control response will result out of a steady * This gain defines how much control response will result out of a steady
* state error. It trims any constant error. * state error. It trims any constant error.
* *
* @min 0.0 * @min 0.005
* @max 100.0 * @max 0.2
* @group FW Attitude Control * @group FW Attitude Control
*/ */
PARAM_DEFINE_FLOAT(FW_RR_I, 0.005f); PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f);
/** /**
* Roll Integrator Anti-Windup * Roll Integrator Anti-Windup