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increase default fixed wing rate controller I term

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2019-07-29 10:37:26 -04:00
committed by Daniel Agar
parent 77fd290b0c
commit a8071589bc
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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@@ -109,7 +109,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
* @increment 0.005 * @increment 0.005
* @group FW Attitude Control * @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. * Maximum positive / up pitch rate.
@@ -183,7 +183,7 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
* @increment 0.005 * @increment 0.005
* @group FW Attitude Control * @group FW Attitude Control
*/ */
PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f); PARAM_DEFINE_FLOAT(FW_RR_I, 0.1f);
/** /**
* Roll integrator anti-windup * Roll integrator anti-windup
@@ -241,7 +241,7 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
* @increment 0.5 * @increment 0.5
* @group FW Attitude Control * @group FW Attitude Control
*/ */
PARAM_DEFINE_FLOAT(FW_YR_I, 0.01f); PARAM_DEFINE_FLOAT(FW_YR_I, 0.1f);
/** /**
* Yaw rate integrator limit * Yaw rate integrator limit