From 5002b13bda7fd679d29fe8210ebac8766616aa8a Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 24 Jun 2019 13:43:31 +0100 Subject: [PATCH] mc_att_control: Increase default rate integral gain @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. --- src/modules/mc_att_control/mc_att_control_params.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index bfba1ea68e..d6049f0d8e 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -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