Diff: Parameters/Parameters.h

Revision:

23:4905fbc2b31a

Parent:

22:5f2323e30cdc

Child:

24:7b9e3beb61d5

--- a/Parameters/Parameters.h	Thu Oct 25 12:41:50 2018 +0000
+++ b/Parameters/Parameters.h	Wed Oct 31 13:21:09 2018 +0000
@@ -32,7 +32,7 @@
 const float rho_att = 0.01f;        
 
 // Attitude controller gains (roll/pitch)
-const float Ts_phi = 0.4f;         // s
+const float Ts_phi = 0.3f;         // s
 const float OS_phi = 0.005f;       // %
 const float zeta_phi = abs(log(OS_phi))/sqrt(pow(log(OS_phi),2)+pow(pi,2));
 const float omega_n_phi = 4.0f/(Ts_phi*zeta_phi);
@@ -42,7 +42,7 @@
 const float kd_theta = kd_phi; 
 
 // Attitude controller gains (yaw)
-const float Ts_psi = 0.8f;          // s
+const float Ts_psi = 0.6f;          // s
 const float OS_psi = 0.005f;        // %
 const float zeta_psi = abs(log(OS_psi))/sqrt(pow(log(OS_psi),2)+pow(pi,2));
 const float omega_n_psi = 4.0f/(Ts_psi*zeta_psi);
@@ -66,7 +66,7 @@
 const float sigma = (1.0f/dt_flow)*(2.0f*tan((gamma*pi/180.0f)/2.0f))/resolution; 
 
 // Horizontal estimator weighthing (measurement X prediction)
-const float rho_hor = 0.3f;  
+const float rho_hor = 0.4f;  
 
 // Horizontal controller gains (x/y)
 const float Ts_x = 4.0f;            // s