Position offset on hover test looks ressonable

Controllers/setPIDgains.m

@@ -3,29 +3,29 @@ function [vehicle_params] = setPIDgains(vehicle_params)
 
     %% Position -> Velocity
     % x
-    vehicle_params.PIDctrl.x.kP = 4;
+    vehicle_params.PIDctrl.x.kP = 2;
     
     % y
-    vehicle_params.PIDctrl.y.kP = 4;
+    vehicle_params.PIDctrl.y.kP = 2;
     
     % z
-    vehicle_params.PIDctrl.z.kP = 10;
+    vehicle_params.PIDctrl.z.kP = 8;
     vehicle_params.PIDctrl.z.kI = 0;
-    vehicle_params.PIDctrl.z.kD = 0;
+    vehicle_params.PIDctrl.z.kD = 1;
     
     %% Velocity -> Acceleration
     % x-dot
-    vehicle_params.PIDctrl.x_dot.kP = 2.5;
+    vehicle_params.PIDctrl.x_dot.kP = 5;
     vehicle_params.PIDctrl.x_dot.kI = 0;
     vehicle_params.PIDctrl.x_dot.kD = 0;
     
     % y-dot
-    vehicle_params.PIDctrl.y_dot.kP = 2.5;
+    vehicle_params.PIDctrl.y_dot.kP = 5;
     vehicle_params.PIDctrl.y_dot.kI = 0;
     vehicle_params.PIDctrl.y_dot.kD = 0;
     
     % z-dot
-    vehicle_params.PIDctrl.z_dot.kP = 2.8;
+    vehicle_params.PIDctrl.z_dot.kP = 5;
     vehicle_params.PIDctrl.z_dot.kI = 0;
     vehicle_params.PIDctrl.z_dot.kD = 0;
     
@@ -41,7 +41,7 @@ function [vehicle_params] = setPIDgains(vehicle_params)
     vehicle_params.PIDctrl.pitch.kD = 0;
     
     % Yaw
-    vehicle_params.PIDctrl.yaw.kP = 16;
+    vehicle_params.PIDctrl.yaw.kP = 8;
     vehicle_params.PIDctrl.yaw.kI = 0;
     vehicle_params.PIDctrl.yaw.kD = 0;