Diff: Parameters/Parameters.h

Revision:

17:f682b4a5686d

Parent:

16:54d2f299e404

Child:

19:83b357d6806e

--- a/Parameters/Parameters.h	Fri Oct 05 13:19:03 2018 +0000
+++ b/Parameters/Parameters.h	Fri Oct 05 19:32:35 2018 +0000
@@ -4,7 +4,7 @@
 // Interrupt frequencies
 const float f = 500.0f;             // Hz
 const float f_range = 20.0f;        // Hz 
-const float f_flow = 200.0f;         // 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 
@@ -31,8 +31,8 @@
 const float rho_att = 0.01f;        
 
 // Attitude controller time constants
-const float T_phi = 0.16f;          // s
-const float T_theta = 0.16f;        // s
+const float T_phi = 0.12f;          // s
+const float T_theta = 0.12f;        // s
 const float T_psi = 0.2f;           // s
 const float T_p = 0.04f;            // s
 const float T_q = 0.04f;            // s
@@ -47,7 +47,7 @@
 const float K_z = pow(omega_n,2.0f);       
 const float K_w = 2.0f*zeta*omega_n;  
 const float zeta_take_off = 1.4f;     
-const float omega_n_take_off = 2.0f;         // rad/s
+const float omega_n_take_off = 2.0f;// rad/s
 const float K_z_take_off = pow(omega_n_take_off,2.0f);       
 const float K_w_take_off = 2.0f*zeta_take_off*omega_n_take_off;  
 
@@ -57,7 +57,7 @@
 // Horizontal controller time constants
 const float T_u = 2.0f;             // s  
 const float T_v = 2.0f;             // s
-const float T_u_take_off = 4.0f;             // s  
-const float T_v_take_off = 4.0f;             // s
+const float T_u_take_off = 4.0f;    // s  
+const float T_v_take_off = 4.0f;    // s
 
 #endif
\ No newline at end of file