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MPC velocity controller: Reduce gain to stabilize control loop

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Lorenz Meier
2016-04-08 21:25:55 -07:00
parent f2cff929e9
commit dd0d1f001e
1 changed files with 1 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+1 -1
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@@ -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, 0.08f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.065f);
/**
* Integral gain for horizontal velocity error