Diff: Parameters/Parameters.h

Revision:

20:4d0614886c80

Parent:

19:83b357d6806e

Child:

21:169cc2b1d2ff

--- a/Parameters/Parameters.h	Thu Oct 18 12:53:22 2018 +0000
+++ b/Parameters/Parameters.h	Thu Oct 18 13:38:10 2018 +0000
@@ -32,8 +32,8 @@
 const float rho_att = 0.01f;        
 
 // Attitude controller gains (roll/pitch)
-const float Ts_phi = 0.9599f;       // s
-const float OS_phi = 0.3878f;       // %
+const float Ts_phi = 0.32f;         // s
+const float OS_phi = 0.0043f;       // %
 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);
 const float K_phi = pow(omega_n_phi,2.0f);       
@@ -42,8 +42,8 @@
 const float K_q = K_p; 
 
 // Attitude controller gains (yaw)
-const float Ts_psi = 0.9599f;       // s
-const float OS_psi = 0.3878f;       // %
+const float Ts_psi = 0.8f;          // s
+const float OS_psi = 0.0432f;       // %
 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);
 const float K_psi = pow(omega_n_psi,2.0f);