Diff: Parameters/Parameters.h

Revision:

12:9fed6f656f88

Parent:

11:fad579538b4c

Child:

13:1a871ebd35bb

--- a/Parameters/Parameters.h	Fri Sep 28 18:52:33 2018 +0000
+++ b/Parameters/Parameters.h	Fri Sep 28 21:45:50 2018 +0000
@@ -29,8 +29,8 @@
 const float rho = 0.02f;        
 
 // Attitude controller time constants
-const float T_phi = 0.12f;          // s
-const float T_theta = 0.12f;        // s
+const float T_phi = 0.16f;          // s
+const float T_theta = 0.16f;        // s
 const float T_psi = 0.2f;           // s
 const float T_p = 0.04f;            // s
 const float T_q = 0.04f;            // s
@@ -42,14 +42,14 @@
 // Vertical controller time constants
 const float zeta = 0.7f;     
 const float omega_n = 2.0f;         // rad/s
-const float K_z = pow(omega_n,2);       
-const float K_w = 2*zeta*omega_n;  
+const float K_z = pow(omega_n,2.0f);       
+const float K_w = 2.0f*zeta*omega_n;  
 
 // Horizontal estimator weighthing (measurement X prediction)
 const float rho_hor = 0.1f;   
 
 // Horizontal controller time constants
-const float T_u = 2.0f;     
-const float T_v = 2.0f;     
+const float T_u = 2.0f;             // s  
+const float T_v = 2.0f;             // s
 
 #endif
\ No newline at end of file