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FW rate controller gains: put default for all IMAX gains to 0.4

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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 <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-10-13 10:10:22 +02:00
committed by Mathieu Bresciani
parent 4bbe8f3c0d
commit 7bc90c7f00
1 changed files with 3 additions and 3 deletions
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src/modules/fw_att_control/fw_att_control_params.c
+3 -3
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@@ -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