lower gains for Lighthouse

bitcraze · Feb 27, 2024 · 8268236 · 8268236
1 parent c4db17a
commit 8268236
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/modules/src/controller/controller_lee.c b/src/modules/src/controller/controller_lee.c
@@ -53,15 +53,15 @@ static controllerLee_t g_self = {
   .J = {16.571710e-6, 16.655602e-6, 29.261652e-6}, // kg m^2
 
   // Position PID
-  .Kpos_P = {9.5, 9.5, 9.5}, // Kp in paper
+  .Kpos_P = {7.0, 7.0, 7.0}, // Kp in paper
   .Kpos_P_limit = 100,
-  .Kpos_D = {7.0, 7.0, 7.0}, // Kv in paper
+  .Kpos_D = {4.0, 4.0, 4.0}, // Kv in paper
   .Kpos_D_limit = 100,
   .Kpos_I = {0.0, 0.0, 0.0}, // not in paper
   .Kpos_I_limit = 2,
 
   // Attitude PID
-  .KR = {0.0076, 0.0076, 0.008},
+  .KR = {0.007, 0.007, 0.008},
   .Komega = {0.00115, 0.00115, 0.002},
   .KI = {0.03, 0.03, 0.03},
 };