From d3846420aae402cc6c3478322c3c595f33d4bce1 Mon Sep 17 00:00:00 2001 From: Ebin Date: Mon, 23 Jul 2018 11:52:13 +0530 Subject: [PATCH] Tools: new default params for balance bot --- Tools/autotest/default_params/balancebot.parm | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/Tools/autotest/default_params/balancebot.parm b/Tools/autotest/default_params/balancebot.parm index a75ec578c2..61e6a65e70 100644 --- a/Tools/autotest/default_params/balancebot.parm +++ b/Tools/autotest/default_params/balancebot.parm @@ -1,7 +1,14 @@ FRAME_CLASS 3 -SCHED_LOOP_RATE 200 +AHRS_EKF_TYPE 10 +SCHED_LOOP_RATE 50 MOT_SLEWRATE 0 FS_CRASH_CHECK 1 +ATC_SPEED_P 0.1 +ATC_SPEED_I 0.05 +ATC_SPEED_FILT 0 +CRUISE_SPEED 1.0 +CRUISE_THROTTLE 30.0 ATC_BAL_P 35 -ATC_BAL_I 30 -ATC_BAL_D 1.5 +ATC_BAL_I 35 +ATC_BAL_D 1.2 +ATC_BAL_FILT 50