From 6c8f39c5d8b28be77cd5f4b59064fb9bfa274f78 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Sun, 23 Feb 2020 11:45:07 +0100 Subject: [PATCH] MC rate controller: limit K and P values of PID controller to in pitch and roll (#14210) --- src/modules/mc_rate_control/mc_rate_control_params.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/mc_rate_control/mc_rate_control_params.c b/src/modules/mc_rate_control/mc_rate_control_params.c index 20235f961a..cbecfb3d71 100644 --- a/src/modules/mc_rate_control/mc_rate_control_params.c +++ b/src/modules/mc_rate_control/mc_rate_control_params.c @@ -44,7 +44,7 @@ * * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. * - * @min 0.0 + * @min 0.01 * @max 0.5 * @decimal 3 * @increment 0.01 @@ -112,7 +112,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f); * Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. * Set MC_ROLLRATE_K=1 to implement a PID in the parallel form. * - * @min 0.0 + * @min 0.01 * @max 5.0 * @decimal 4 * @increment 0.0005 @@ -125,7 +125,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_K, 1.0f); * * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. * - * @min 0.0 + * @min 0.01 * @max 0.6 * @decimal 3 * @increment 0.01 @@ -192,7 +192,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_FF, 0.0f); * Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. * Set MC_PITCHRATE_K=1 to implement a PID in the parallel form. * - * @min 0.0 + * @min 0.01 * @max 5.0 * @decimal 4 * @increment 0.0005