Diff: Parameters/Parameters.h

Revision:

15:155ca63b7884

Parent:

14:7439203a9e44

Child:

16:54d2f299e404

--- a/Parameters/Parameters.h	Wed Oct 03 19:39:48 2018 +0000
+++ b/Parameters/Parameters.h	Wed Oct 03 22:12:38 2018 +0000
@@ -2,9 +2,9 @@
 #define Parameters_h
 
 // Interrupt frequencies
-const float f = 300.0f;             // Hz
+const float f = 500.0f;             // Hz
 const float f_range = 20.0f;        // Hz 
-const float f_flow = 50.0f;         // Hz 
+const float f_flow = 200.0f;         // Hz 
 const float dt = 1.0f/f;            // s
 const float dt_range = 1.0f/f_range;// s
 const float dt_flow = 1.0f/f_flow;  // s 
@@ -28,7 +28,7 @@
 const float g = 9.81f;              // m/s^2
 
 // Attitude estimator weighthing (accelerometer X gyroscope)
-const float rho_att = 0.02f;        
+const float rho_att = 0.01f;        
 
 // Attitude controller time constants
 const float T_phi = 0.16f;          // s
@@ -48,10 +48,10 @@
 const float K_w = 2.0f*zeta*omega_n;  
 
 // Horizontal estimator weighthing (measurement X prediction)
-const float rho_hor = 0.1f;   
+const float rho_hor = 0.5f;   
 
 // Horizontal controller time constants
-const float T_u = 1.0f;             // s  
-const float T_v = 1.0f;             // s
+const float T_u = 2.0f;             // s  
+const float T_v = 2.0f;             // s
 
 #endif
\ No newline at end of file