AR_AttitudeControl: reduce default steering I gain to 0.2

Also reduce default filter from 50hz to 10hz
huimengyoux · Apr 19, 2018 · 23ed735 · 23ed735
1 parent e5c0b18
commit 23ed735
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/libraries/APM_Control/AR_AttitudeControl.h b/libraries/APM_Control/AR_AttitudeControl.h
@@ -9,17 +9,17 @@
 #define AR_ATTCONTROL_STEER_ANG_P       1.00f
 #define AR_ATTCONTROL_STEER_RATE_FF     0.20f
 #define AR_ATTCONTROL_STEER_RATE_P      0.20f
-#define AR_ATTCONTROL_STEER_RATE_I      0.50f
+#define AR_ATTCONTROL_STEER_RATE_I      0.20f
 #define AR_ATTCONTROL_STEER_RATE_IMAX   1.00f
 #define AR_ATTCONTROL_STEER_RATE_D      0.00f
-#define AR_ATTCONTROL_STEER_RATE_FILT   50.00f
+#define AR_ATTCONTROL_STEER_RATE_FILT   10.00f
 #define AR_ATTCONTROL_STEER_RATE_MAX    360.0f
 #define AR_ATTCONTROL_STEER_ACCEL_MAX   360.0f
 #define AR_ATTCONTROL_THR_SPEED_P       0.20f
 #define AR_ATTCONTROL_THR_SPEED_I       0.20f
 #define AR_ATTCONTROL_THR_SPEED_IMAX    1.00f
 #define AR_ATTCONTROL_THR_SPEED_D       0.00f
-#define AR_ATTCONTROL_THR_SPEED_FILT    50.00f
+#define AR_ATTCONTROL_THR_SPEED_FILT    10.00f
 #define AR_ATTCONTROL_DT                0.02f
 #define AR_ATTCONTROL_TIMEOUT_MS        200