Set better default gains for Iris and F330

11 years ago · f475ffda04
2 changed files with 6 additions and 6 deletions
--- a/ROMFS/px4fmu_common/init.d/10_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/10_dji_f330
@ -10,12 +10,12 @@ then
				@@ -10,12 +10,12 @@ then
 	# Set all params here, then disable autoconfig
 	param set SYS_AUTOCONFIG 0

-	param set MC_ATTRATE_D 0.002
+	param set MC_ATTRATE_D 0.004
 	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_P 0.09
+	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 6.8
+	param set MC_ATT_P 7.0
 	param set MC_YAWPOS_D 0.0
 	param set MC_YAWPOS_I 0.0
 	param set MC_YAWPOS_P 2.0
--- a/ROMFS/px4fmu_common/init.d/16_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/16_3dr_iris
@ -10,12 +10,12 @@ then
				@@ -10,12 +10,12 @@ then
 	# Set all params here, then disable autoconfig
 	param set SYS_AUTOCONFIG 0

-	param set MC_ATTRATE_D 0.006
+	param set MC_ATTRATE_D 0.004
 	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_P 0.17
+	param set MC_ATTRATE_P 0.13
 	param set MC_ATT_D 0.0
 	param set MC_ATT_I 0.0
-	param set MC_ATT_P 5.0
+	param set MC_ATT_P 9.0
 	param set MC_YAWPOS_D 0.0
 	param set MC_YAWPOS_I 0.15
 	param set MC_YAWPOS_P 0.5