From 7a34089dee9a3f96cdcdf0a3e94619cf22c2053c Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 27 Dec 2013 23:49:24 +0400
Subject: [PATCH] mc_pos_control: default parameters updated

---
 src/modules/mc_pos_control/mc_pos_control_params.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 2fe70698fc..92fa94dcd1 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -12,13 +12,13 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f);
 PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
 PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
 PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f);
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.05f);
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
 PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
 PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
 PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
 PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f);
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f);
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.01f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
 PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);