From fbc1b78b3819beeec9f5327ef40fc3de1d599808 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 2 Aug 2015 14:51:09 +0200 Subject: [PATCH] Attitude control: Enforce rate limits by default to prevent jittery control outputs / steps --- src/modules/fw_att_control/fw_att_control_params.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index aa8787b623..7975a3b3c3 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -101,7 +101,7 @@ PARAM_DEFINE_FLOAT(FW_PR_I, 0.01f); * @max 90.0 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f); +PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f); /** * Maximum negative / down pitch rate. @@ -114,7 +114,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f); * @max 90.0 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f); +PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f); /** * Pitch rate integrator limit @@ -185,7 +185,7 @@ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f); * @max 90.0 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_R_RMAX, 0.0f); +PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f); /** * Yaw rate proportional gain