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Update default rover parameters Ki and Kd

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flbernier 2020-04-15 12:54:25 +02:00 committed by Beat Küng
parent 3b0f2a4d43
commit 2fca03e1bd
1 changed files with 3 additions and 3 deletions
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6
src/modules/rover_pos_control/rover_pos_control_params.c
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@ -191,7 +191,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_P, 2.0f);
* @increment 0.005
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_SPEED_I, 0.1f);
PARAM_DEFINE_FLOAT(GND_SPEED_I, 3.0f);
/**
* Speed proportional gain
@ -205,7 +205,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_I, 0.1f);
* @increment 0.005
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_SPEED_D, 0.0f);
PARAM_DEFINE_FLOAT(GND_SPEED_D, 0.001f);
/**
* Speed integral maximum value
@ -285,4 +285,4 @@ PARAM_DEFINE_FLOAT(GND_WHEEL_BASE, 2.0f);
* @increment 0.01
* @group Rover Position Control
*/
PARAM_DEFINE_FLOAT(GND_MAX_ANG, 0.7854f);
PARAM_DEFINE_FLOAT(GND_MAX_ANG, 0.7854f);