From 5398428683de887b0f67645281dd35200cdfc59b Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Thu, 9 Sep 2021 15:16:02 +0200 Subject: [PATCH] update default gains for npfg (now that accel command bug was fixed) --- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 54c36ea50a..35a8ed4c77 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -107,7 +107,7 @@ PARAM_DEFINE_INT32(FW_USE_NPFG, 0); * @increment 0.5 * @group FW NPFG Control */ -PARAM_DEFINE_FLOAT(NPFG_PERIOD, 30.0f); +PARAM_DEFINE_FLOAT(NPFG_PERIOD, 20.0f); /** * NPFG damping ratio @@ -117,10 +117,10 @@ PARAM_DEFINE_FLOAT(NPFG_PERIOD, 30.0f); * @min 0.10 * @max 1.00 * @decimal 2 - * @increment 0.05 + * @increment 0.01 * @group FW NPFG Control */ -PARAM_DEFINE_FLOAT(NPFG_DAMPING, 0.25f); +PARAM_DEFINE_FLOAT(NPFG_DAMPING, 0.7f); /** * Enable automatic lower bound on the NPFG period