From 62b102d0b49f5cf47f5623761aed4db2a390ceaf Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 21 Jun 2015 19:00:06 +0200
Subject: [PATCH] MC attitude controller: Set better defaults

---
 .../mc_att_control/mc_att_control_params.c     | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 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 c9bf3753b4..c0f110123a 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -50,7 +50,7 @@
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
+PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f);
 
 /**
  * Roll rate P gain
@@ -70,7 +70,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.05f);
 
 /**
  * Roll rate D gain
@@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
+PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.003f);
 
 /**
  * Roll rate feedforward
@@ -101,7 +101,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
+PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
 
 /**
  * Pitch rate P gain
@@ -121,7 +121,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.05f);
 
 /**
  * Pitch rate D gain
@@ -131,7 +131,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
+PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.003f);
 
 /**
  * Pitch rate feedforward
@@ -152,7 +152,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_FF, 0.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
+PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
 
 /**
  * Yaw rate P gain
@@ -162,7 +162,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.2f);
 
 /**
  * Yaw rate I gain
@@ -172,7 +172,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.1f);
 
 /**
  * Yaw rate D gain