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MC position control: Hold position more aggressively

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Lorenz Meier
2016-02-27 12:12:26 +01:00
parent 5c7f8ca12e
commit 473eea154f
1 changed files with 3 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+3 -3
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@@ -356,7 +356,7 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_XY_DZ, 0.1f);
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.5f);
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f);
/**
* Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
@@ -366,7 +366,7 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.5f);
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.5f);
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);
/**
* Low pass filter cut freq. for numerical velocity derivative
@@ -387,4 +387,4 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 4.0f);
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 6.0f);