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multirotor_pos_control: default parameters updated

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This commit is contained in:
Anton Babushkin
2013-12-16 12:53:38 +04:00
parent 7cbb4cfdb8
commit 373888b16d
1 changed files with 4 additions and 4 deletions
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src/modules/multirotor_pos_control/multirotor_pos_control_params.c
+4 -4
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@@ -45,14 +45,14 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.2f);
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.8f);
PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
PARAM_DEFINE_FLOAT(MPC_Z_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.1f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 3.0f);
PARAM_DEFINE_FLOAT(MPC_XY_P, 0.5f);
PARAM_DEFINE_FLOAT(MPC_XY_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.2f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.05f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f);