From bc2579f3be17436715acc5bdfa356b0adb101012 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Sat, 22 Feb 2020 19:45:19 +0100
Subject: [PATCH] mc_pos_control_params: lower jerk configuration

because of tighter tracking with acceleration feed-forward.
---
 ROMFS/px4fmu_common/init.d-posix/rcS               | 3 ---
 src/modules/mc_pos_control/mc_pos_control_params.c | 6 +++---
 2 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index a4c5f16e43..6a10dbad9c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -164,9 +164,6 @@ then
 	param set MPC_XY_VEL_I 0.02
 	param set MPC_XY_VEL_D 0.016
 
-	param set MPC_JERK_MIN 10
-	param set MPC_JERK_MAX 20
-	param set MPC_ACC_HOR_MAX 3
 	param set MPC_SPOOLUP_TIME 0.5
 	param set MPC_TKO_RAMP_T 1
 
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 ead42d1cbb..517b8085eb 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -531,7 +531,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
  * @decimal 2
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 20.0f);
+PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.0f);
 
 /**
  * Velocity-based jerk limit
@@ -564,13 +564,13 @@ PARAM_DEFINE_FLOAT(MPC_JERK_MIN, 8.0f);
  * agility.
  *
  * @unit m/s/s/s
- * @min 5.0
+ * @min 1.0
  * @max 80.0
  * @increment 1
  * @decimal 1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 8.0f);
+PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
 
 /**
  * Altitude control mode.