From 3ef6ee056f5fbae679417897e9da3d32c17a48b7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 18 Jun 2016 16:58:04 +0200 Subject: [PATCH] Sync rate control gains --- posix-configs/SITL/init/rcS_gazebo_iris | 8 ++++---- posix-configs/SITL/init/rcS_gazebo_typhoon_h480 | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris index e4d8c958a9..72d205447d 100644 --- a/posix-configs/SITL/init/rcS_gazebo_iris +++ b/posix-configs/SITL/init/rcS_gazebo_iris @@ -27,10 +27,10 @@ param set RTL_RETURN_ALT 30.0 param set RTL_DESCEND_ALT 10.0 param set RTL_LAND_DELAY 0 param set MIS_TAKEOFF_ALT 2.5 -param set MC_ROLLRATE_P 0.5 -param set MC_PITCHRATE_P 0.5 -param set MC_PITCH_P 5 -param set MC_ROLL_P 5 +param set MC_ROLLRATE_P 0.3 +param set MC_PITCHRATE_P 0.3 +param set MC_PITCH_P 5.5 +param set MC_ROLL_P 5.5 param set MC_ROLLRATE_I 0.1 param set MC_PITCHRATE_I 0.1 param set MPC_HOLD_MAX_Z 2.0 diff --git a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480 b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480 index 6a47ce7ff5..3c40019721 100644 --- a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480 +++ b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480 @@ -27,10 +27,10 @@ param set RTL_RETURN_ALT 30.0 param set RTL_DESCEND_ALT 10.0 param set RTL_LAND_DELAY 0 param set MIS_TAKEOFF_ALT 2.5 -param set MC_ROLLRATE_P 0.25 -param set MC_PITCHRATE_P 0.25 -param set MC_PITCH_P 5 -param set MC_ROLL_P 5 +param set MC_ROLLRATE_P 0.3 +param set MC_PITCHRATE_P 0.3 +param set MC_PITCH_P 5.5 +param set MC_ROLL_P 5.5 param set MC_ROLLRATE_I 0.1 param set MC_PITCHRATE_I 0.1 param set MPC_HOLD_MAX_Z 2.0