From c385d5e32bc8a28c1a09c6f9ac22ad087d45800a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 25 Mar 2016 14:22:49 +0100 Subject: [PATCH] Adjust multicopter position control default params --- src/modules/mc_pos_control/mc_pos_control_params.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 8e5a3c5636..1b94da7673 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -213,7 +213,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 1.25f); * @decimal 2 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.08f); /** * Integral gain for horizontal velocity error @@ -259,7 +259,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f); * @decimal 2 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 8.0f); /** * Horizontal velocity feed forward