APM_Control: changed default PID for Balance Bot

7 years ago · 1dc1b28234
1 changed files with 3 additions and 3 deletions
--- a/libraries/APM_Control/AR_AttitudeControl.h
+++ b/libraries/APM_Control/AR_AttitudeControl.h
@ -20,9 +20,9 @@
				@@ -20,9 +20,9 @@
 #define AR_ATTCONTROL_THR_SPEED_IMAX    1.00f
 #define AR_ATTCONTROL_THR_SPEED_D       0.00f
 #define AR_ATTCONTROL_THR_SPEED_FILT    10.00f
-#define AR_ATTCONTROL_PITCH_THR_P       100.0f
-#define AR_ATTCONTROL_PITCH_THR_I       80.0f
-#define AR_ATTCONTROL_PITCH_THR_D       1.0f
+#define AR_ATTCONTROL_PITCH_THR_P       1.80f
+#define AR_ATTCONTROL_PITCH_THR_I       1.50f
+#define AR_ATTCONTROL_PITCH_THR_D       0.03f
 #define AR_ATTCONTROL_PITCH_THR_IMAX    1.0f
 #define AR_ATTCONTROL_PITCH_THR_FILT    10.0f
 #define AR_ATTCONTROL_DT                0.02f