From 35fae44527de3b92290c535f9c44fb5495f6322f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 8 Nov 2012 18:10:03 +0100 Subject: [PATCH] Nulling controller parameters for additional safety --- apps/multirotor_att_control/multirotor_rate_control.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c index d5e20312b5..bbaec30330 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.c +++ b/apps/multirotor_att_control/multirotor_rate_control.c @@ -55,14 +55,14 @@ #include #include -PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */ +PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); //PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); //PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */ -PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.05f); +PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */ +PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); //PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f); //PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */