Diff: quadcopter.cpp

Revision:

50:c9831bb5a660

Parent:

49:59c3427e6838

--- a/quadcopter.cpp	Fri May 06 13:54:18 2016 +0000
+++ b/quadcopter.cpp	Fri May 06 15:05:26 2016 +0000
@@ -21,14 +21,14 @@
 
     // control gains set s.t. 100% joystick results in 15% (actually: (maxPwm-zeroVelPwm+0.1)) duty cycle.
     kp_f_     = (MAX_PWM - OFF_PWM) * 4 / 0.5;
-    kp_phi_   = 0.3 * (MAX_PWM - OFF_PWM) * l_ / 0.5 * 4 / M_PI; //0.3 quite slow
-    kp_theta_ = 0.3 * (MAX_PWM - OFF_PWM) * l_ / 0.5 * 4 / M_PI;
+    kp_phi_   = 0.5 * (MAX_PWM - OFF_PWM) * l_ / 0.5 * 4 / M_PI; //0.3 quite slow
+    kp_theta_ = 0.5 * (MAX_PWM - OFF_PWM) * l_ / 0.5 * 4 / M_PI;
     kp_psi_   = 0;
 
     // derivative attitude control gains
     // TODO 0.15 for both
-    kd_phi_   = 0.1 * (MAX_PWM - OFF_PWM) * 2 / M_PI; // 0.25 maybe a good
-    kd_theta_ = 0.4 * (MAX_PWM - OFF_PWM) * 2 / M_PI;
+    kd_phi_   = 0.3 * (MAX_PWM - OFF_PWM) * 2 / M_PI; // 0.25 maybe a good
+    kd_theta_ = 0.3 * (MAX_PWM - OFF_PWM) * 2 / M_PI;
     kd_psi_   = 0.1;
 
     // incresae ki_phi