From ba9611621db7a641f9be71715afe50e1611ba87a Mon Sep 17 00:00:00 2001
From: Can Berk Durmus <canberkdurmus@gmail.com>
Date: Fri, 8 Jan 2021 19:45:55 +0300
Subject: [PATCH] Retune Typhoon H480 PID

---
 .../init.d-posix/airframes/6011_typhoon_h480       | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
index 2e225fc9a1..bbd85717e3 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
@@ -9,12 +9,14 @@
 
 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCH_P 6.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLL_P 6.0
+	param set MC_PITCHRATE_P 0.1000
+	param set MC_PITCHRATE_I 0.0400
+	param set MC_PITCHRATE_D 0.0010
+	param set MC_PITCH_P 9.0
+	param set MC_ROLLRATE_P 0.1000
+	param set MC_ROLLRATE_I 0.0400
+	param set MC_ROLLRATE_D 0.0010
+	param set MC_ROLL_P 9.0
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 3