From c7ef12545cde8226d57f2462cc4a3ba93424b650 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 4 Jun 2025 11:37:50 +0200 Subject: [PATCH] mc_att_control_params: lower default roll and pitch attitude gains from 6.5 to 4 6.5 is a relatively high value that was used mostly on smaller, low inertia vehicles ~250-500mm diagonal. There it works great but on larger, higher intertia vehicles this leads to problems. --- src/modules/mc_att_control/mc_att_control_params.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 1d7fe08bc4..a503900cff 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -50,7 +50,7 @@ * @increment 0.1 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f); +PARAM_DEFINE_FLOAT(MC_ROLL_P, 4.0f); /** * Pitch P gain @@ -63,7 +63,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f); * @increment 0.1 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f); +PARAM_DEFINE_FLOAT(MC_PITCH_P, 4.0f); /** * Yaw P gain