MPC velocity controller: Reduce gain to stabilize control loop

9 years ago · dd0d1f001e
1 changed files with 1 additions and 1 deletions
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@ -213,7 +213,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 1.25f);
				@@ -213,7 +213,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 1.25f);
 * @decimal 2
 * @group Multicopter Position Control
 */
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.08f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.065f);

 /**
 * Integral gain for horizontal velocity error