From 3d3ff75495c2345f2d93a2fdc236b064d8b81688 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 28 Oct 2020 15:29:02 +0100 Subject: [PATCH] TECS: update some params to latest results from flight testing Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 004aa54c31..80f45fd836 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -549,7 +549,7 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.1f); * @increment 0.05 * @group FW TECS */ -PARAM_DEFINE_FLOAT(FW_T_I_GAIN_THR, 0.1f); +PARAM_DEFINE_FLOAT(FW_T_I_GAIN_THR, 0.3f); /** * Integrator gain pitch @@ -681,7 +681,7 @@ PARAM_DEFINE_FLOAT(FW_T_ALT_TC, 5.0f); * @increment 0.05 * @group FW TECS */ -PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.4f); +PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.3f); /** * True airspeed error time constant. @@ -746,4 +746,4 @@ PARAM_DEFINE_FLOAT(FW_T_STE_R_TC, 0.4f); * @increment 0.01 * @group FW TECS */ -PARAM_DEFINE_FLOAT(FW_T_TAS_R_TC, 0.05f); +PARAM_DEFINE_FLOAT(FW_T_TAS_R_TC, 0.2f);