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mc_att_control: Increase default rate integral gain

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@bkueang and me realized that on every frame we tune the integral gain for
the roll and pitch rate controller is much too low. Usually it needs to be
increased to 0.3 or even 0.4 to have better "locked in" flight performance
and 0.2 seems like a good compromise for a safe default.
This commit is contained in:
Matthias Grob 2019-06-24 13:43:31 +01:00 committed by Lorenz Meier
parent 443381327e
commit 5002b13bda
1 changed files with 2 additions and 2 deletions
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4
src/modules/mc_att_control/mc_att_control_params.c
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@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.15f);
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.05f);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.2f);
/**
* Roll rate integrator limit
@ -151,7 +151,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.15f);
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.05f);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.2f);
/**
* Pitch rate integrator limit