From 8683739feca26fce5376474e09771ee45159e96f Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Sun, 12 Feb 2017 16:34:35 +0100
Subject: [PATCH] Convergence: updated tuning

---
 ROMFS/px4fmu_common/init.d/13012_convergence | 51 ++++++++++++++------
 1 file changed, 36 insertions(+), 15 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/13012_convergence b/ROMFS/px4fmu_common/init.d/13012_convergence
index c6acb3be07..04a7d29446 100644
--- a/ROMFS/px4fmu_common/init.d/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/13012_convergence
@@ -22,23 +22,44 @@ then
     param set VT_IDLE_PWM_MC 1080
     param set VT_TYPE 1
 
-    param set VT_TILT_MC 0.0
-    param set VT_TILT_TRANS 0.35
-    param set VT_TILT_FW 1.0
-    param set VT_F_TRANS_DUR 2.0
-    param set VT_TRANS_MIN_TM 3.0
-    param set VT_F_TR_OL_TM 7.0
-    param set VT_TRANS_P2_DUR 2.2
-    param set VT_B_TRANS_DUR 1.0
-    param set VT_FW_PERM_STAB 1
+    param set VT_B_TRANS_DUR  1.0
+    param set VT_FW_DIFTHR_EN 1
+    param set VT_FW_DIFTHR_SC 0.17
+    param set VT_FW_PERM_STAB 0
+    param set VT_F_TRANS_DUR  1.2
+    param set VT_F_TR_OL_TM   4.0
+    param set VT_TILT_FW  1.0
+    param set VT_TILT_MC  0.0
+    param set VT_TILT_TRANS   0.45
+    param set VT_TRANS_MIN_TM 1.2
+    param set VT_TRANS_P2_DUR 1.3
 
-    param set FW_L1_PERIOD 16
+    param set FW_L1_PERIOD 17
     param set FW_MAN_R_MAX 50.0
-    param set FW_PSP_OFF 4.0
-    param set FW_P_LIM_MAX 30
-    param set FW_P_LIM_MIN -30
-    param set FW_RR_FF 0.35
-    param set FW_RR_P 0.14
+    param set FW_ACRO_X_MAX   270
+    param set FW_ACRO_Y_MAX   270
+    param set FW_ACRO_Z_MAX   180
+    param set FW_PR_FF    0.5
+    param set FW_PR_P 0.08
+    param set FW_PSP_OFF  5.0
+    param set FW_P_LIM_MAX    30
+    param set FW_P_LIM_MIN    -30
+    param set FW_P_RMAX_NEG   60
+    param set FW_P_RMAX_POS   60
+    param set FW_RR_FF    0.33
+    param set FW_RR_P 0.11
+    param set FW_YR_FF    0.3
+    param set FW_YR_P 0.05
+    param set MC_PITCHRATE_D  0.003
+    param set MC_PITCHRATE_P  0.15
+    param set MC_PITCH_P  6.0
+    param set MC_ROLLRATE_D   0.003
+    param set MC_ROLLRATE_P   0.15
+    param set MC_ROLL_P   6.0
+    param set MC_YAWRATE_MAX  120
+    param set MC_YAWRATE_P    0.27
+    param set MC_YAW_FF   0.35
+    param set MC_YAW_P    2.5
 
     param set MC_YAWRATE_P 0.3
     param set MPC_LAND_SPEED 1.2