From ab5ec0da0b4afcb3f68eaf70efebe691513f74ce Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 22 Aug 2013 15:53:19 +0200 Subject: [PATCH] Changed the default PID gains for the F330 --- ROMFS/px4fmu_common/init.d/10_io_f330 | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330 index b2fc0c96f1..50842764a6 100644 --- a/ROMFS/px4fmu_common/init.d/10_io_f330 +++ b/ROMFS/px4fmu_common/init.d/10_io_f330 @@ -16,19 +16,19 @@ then # Set all params here, then disable autoconfig param set SYS_AUTOCONFIG 0 - param set MC_ATTRATE_D 0.005 + param set MC_ATTRATE_D 0.004 param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.1 + param set MC_ATTRATE_P 0.12 param set MC_ATT_D 0.0 param set MC_ATT_I 0.0 - param set MC_ATT_P 4.5 + param set MC_ATT_P 7.0 param set MC_RCLOSS_THR 0.0 param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.3 - param set MC_YAWPOS_P 0.6 - param set MC_YAWRATE_D 0.0 - param set MC_YAWRATE_I 0.0 - param set MC_YAWRATE_P 0.1 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_P 2.0 + param set MC_YAWRATE_D 0.005 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_P 0.3 param save /fs/microsd/params fi