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don't use virtual line anymore for takeoff but use correct starting point to navigate, updated default parameters for wheel controller

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Andreas Antener
2015-11-17 22:28:09 +01:00
committed by Roman
parent 5949b6615d
commit 4e22d65325
5 changed files with 45 additions and 65 deletions
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src/modules/fw_att_control/fw_att_control_params.c
+2 -2
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@@ -230,7 +230,7 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_WR_P, 0.3f);
PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f);
/**
* Wheel steering rate integrator gain
@@ -254,7 +254,7 @@ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_WR_IMAX, 0.2f);
PARAM_DEFINE_FLOAT(FW_WR_IMAX, 1.0f);
/**
* Maximum wheel steering rate