From 473eea154f3f8c7026c74e3b973c7092fc60d80c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Feb 2016 12:12:26 +0100 Subject: [PATCH] MC position control: Hold position more aggressively --- src/modules/mc_pos_control/mc_pos_control_params.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index b80cb21a3d..49934d7ea1 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -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);