From ae9f1ec955906038652c459e6343b0d30f816722 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 23 Jun 2015 09:11:34 +0200 Subject: [PATCH] CAN config: Better attitude control defaults --- ROMFS/px4fmu_common/init.d/4012_quad_x_can | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can index 05b4355138..c6341a4f74 100644 --- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can +++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can @@ -9,18 +9,17 @@ sh /etc/init.d/4001_quad_x if [ $AUTOCNF == yes ] then - # TODO REVIEW param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.1 + param set MC_ROLLRATE_P 0.16 param set MC_ROLLRATE_I 0.05 - param set MC_ROLLRATE_D 0.003 + param set MC_ROLLRATE_D 0.01 param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.1 + param set MC_PITCHRATE_P 0.16 param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_D 0.003 + param set MC_PITCHRATE_D 0.01 param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_P 0.3 + param set MC_YAWRATE_I 0.1 param set MC_YAWRATE_D 0.0 fi