From 7bc90c7f001cd6a2af5f1ca6dcf70795ba758b51 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 13 Oct 2022 10:10:22 +0200 Subject: [PATCH] FW rate controller gains: put default for all IMAX gains to 0.4 The previous default for yaw and roll was 0.2, which is very low, and for wheel was 1, which is very high. A value of 0.4 makes sense to me for all axes. Signed-off-by: Silvan Fuhrer --- src/modules/fw_att_control/fw_att_control_params.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index 80d4fd9361..049b9af408 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -222,7 +222,7 @@ PARAM_DEFINE_FLOAT(FW_RR_I, 0.1f); * @increment 0.05 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f); +PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.4f); /** * Maximum roll rate @@ -294,7 +294,7 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.1f); * @increment 0.05 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f); +PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.4f); /** * Maximum yaw rate @@ -377,7 +377,7 @@ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f); * @increment 0.05 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_WR_IMAX, 1.0f); +PARAM_DEFINE_FLOAT(FW_WR_IMAX, 0.4f); /** * Maximum wheel steering rate