From a8071589bc87d97fd31cb810a93ee425c839275e Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Tue, 23 Jul 2019 17:27:23 +0200 Subject: [PATCH] increase default fixed wing rate controller I term Signed-off-by: RomanBapst --- 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 0d8aebf1b5..cee3432f40 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -109,7 +109,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f); * @increment 0.005 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_PR_I, 0.02f); +PARAM_DEFINE_FLOAT(FW_PR_I, 0.1f); /** * Maximum positive / up pitch rate. @@ -183,7 +183,7 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f); * @increment 0.005 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f); +PARAM_DEFINE_FLOAT(FW_RR_I, 0.1f); /** * Roll integrator anti-windup @@ -241,7 +241,7 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f); * @increment 0.5 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_YR_I, 0.01f); +PARAM_DEFINE_FLOAT(FW_YR_I, 0.1f); /** * Yaw rate integrator limit