From 2fca03e1bda313f86fd96d05130e830b9a2ee220 Mon Sep 17 00:00:00 2001 From: flbernier Date: Wed, 15 Apr 2020 12:54:25 +0200 Subject: [PATCH] Update default rover parameters Ki and Kd --- src/modules/rover_pos_control/rover_pos_control_params.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/rover_pos_control/rover_pos_control_params.c b/src/modules/rover_pos_control/rover_pos_control_params.c index bdeb6de3b0..cc3b639b12 100644 --- a/src/modules/rover_pos_control/rover_pos_control_params.c +++ b/src/modules/rover_pos_control/rover_pos_control_params.c @@ -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); \ No newline at end of file +PARAM_DEFINE_FLOAT(GND_MAX_ANG, 0.7854f);