From f0cdd9be6091e15cc2a6cc434cf4409647bcd3a5 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Tue, 23 Jul 2019 17:22:07 +0200 Subject: [PATCH] MPC_Z_VEL_I: changed default from 0.02 to 0.1 - generally better attitude tracking - much better altitude control immediately after takeoff (hover throttle offset) - faster landing detection Signed-off-by: RomanBapst --- src/modules/mc_pos_control/mc_pos_control_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 8fd2d49a6d..7fdb669470 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -154,7 +154,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f); * @decimal 3 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.1f); /** * Differential gain for vertical velocity error