From 384028aa7bae5e2461739caf2ba5add3aba66d4d Mon Sep 17 00:00:00 2001 From: Elia Tarasov Date: Mon, 4 Jun 2018 13:46:29 +0300 Subject: [PATCH] decrease rollrate P gain due to gimbal oscillations --- posix-configs/SITL/init/ekf2/typhoon_h480 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/posix-configs/SITL/init/ekf2/typhoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480 index a72a2c1ae8..6c92d6c7d1 100644 --- a/posix-configs/SITL/init/ekf2/typhoon_h480 +++ b/posix-configs/SITL/init/ekf2/typhoon_h480 @@ -26,7 +26,7 @@ param set MAV_TYPE 13 param set MC_PITCH_P 6 param set MC_PITCHRATE_P 0.1 param set MC_ROLL_P 6 -param set MC_ROLLRATE_P 0.1 +param set MC_ROLLRATE_P 0.05 param set MIS_TAKEOFF_ALT 2.5 param set MPC_HOLD_MAX_Z 2.0 param set MPC_XY_VEL_I 0.2