From 253829a4e1d715c1acb6afe801fbae371e7bd935 Mon Sep 17 00:00:00 2001 From: matejkarasek Date: Tue, 27 Aug 2024 11:38:01 +0200 Subject: [PATCH] Flapper default gains and filters updated --- .../interface/platform_defaults_flapper.h | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/src/platform/interface/platform_defaults_flapper.h b/src/platform/interface/platform_defaults_flapper.h index 9c5548c70a..a4f9061696 100644 --- a/src/platform/interface/platform_defaults_flapper.h +++ b/src/platform/interface/platform_defaults_flapper.h @@ -73,21 +73,21 @@ #define PID_PITCH_KFF 0.0 #define PID_PITCH_INTEGRATION_LIMIT 20.0 -#define PID_YAW_KP 30.0 +#define PID_YAW_KP 8.0 #define PID_YAW_KI 0.0 -#define PID_YAW_KD 1.0 +#define PID_YAW_KD 0.35 #define PID_YAW_KFF 0.0 #define PID_YAW_INTEGRATION_LIMIT 360.0 -#define PID_VEL_X_KP 25.0f +#define PID_VEL_X_KP 15.0f #define PID_VEL_X_KI 1.0f #define PID_VEL_X_KD 0.0f -#define PID_VEL_X_KFF 10.0f +#define PID_VEL_X_KFF 15.0f -#define PID_VEL_Y_KP 15.0f +#define PID_VEL_Y_KP 10.0f #define PID_VEL_Y_KI 1.0f #define PID_VEL_Y_KD 0.0f -#define PID_VEL_Y_KFF 5.0f +#define PID_VEL_Y_KFF 8.0f #define PID_VEL_Z_KP 12.5f #define PID_VEL_Z_KI 0.5f @@ -99,8 +99,8 @@ #define PID_VEL_Z_KD_BARO_Z_HOLD 1.0f #define PID_VEL_Z_KFF_BARO_Z_HOLD 0.0f -#define PID_VEL_ROLL_MAX 20.0f -#define PID_VEL_PITCH_MAX 20.0f +#define PID_VEL_ROLL_MAX 30.0f +#define PID_VEL_PITCH_MAX 30.0f #define PID_VEL_THRUST_BASE 40000.0f #define PID_VEL_THRUST_BASE_BARO_Z_HOLD 40000.0f #define PID_VEL_THRUST_MIN 20000.0f @@ -120,14 +120,14 @@ #define PID_POS_Z_KD 0.0f #define PID_POS_Z_KFF 0.0f -#define PID_POS_VEL_X_MAX 1.0f -#define PID_POS_VEL_Y_MAX 1.0f +#define PID_POS_VEL_X_MAX 2.0f +#define PID_POS_VEL_Y_MAX 2.0f #define PID_POS_VEL_Z_MAX 1.0f // PID filter configuration -#define ATTITUDE_ROLL_RATE_LPF_CUTOFF_FREQ 12.5f -#define ATTITUDE_PITCH_RATE_LPF_CUTOFF_FREQ 12.5f -#define ATTITUDE_YAW_RATE_LPF_CUTOFF_FREQ 3.0f +#define ATTITUDE_ROLL_RATE_LPF_CUTOFF_FREQ 20.0f +#define ATTITUDE_PITCH_RATE_LPF_CUTOFF_FREQ 20.0f +#define ATTITUDE_YAW_RATE_LPF_CUTOFF_FREQ 5.0f #define ATTITUDE_RATE_LPF_ENABLE true #define PID_VEL_XY_FILT_CUTOFF 10.0f #define PID_VEL_Z_FILT_CUTOFF 10.0f