Commit 96a4f201 authored by yean's avatar yean
Browse files

Position offset on hover test looks ressonable

parent 5c83087c
...@@ -3,29 +3,29 @@ function [vehicle_params] = setPIDgains(vehicle_params) ...@@ -3,29 +3,29 @@ function [vehicle_params] = setPIDgains(vehicle_params)
%% Position -> Velocity %% Position -> Velocity
% x % x
vehicle_params.PIDctrl.x.kP = 4; vehicle_params.PIDctrl.x.kP = 2;
% y % y
vehicle_params.PIDctrl.y.kP = 4; vehicle_params.PIDctrl.y.kP = 2;
% z % z
vehicle_params.PIDctrl.z.kP = 10; vehicle_params.PIDctrl.z.kP = 8;
vehicle_params.PIDctrl.z.kI = 0; vehicle_params.PIDctrl.z.kI = 0;
vehicle_params.PIDctrl.z.kD = 0; vehicle_params.PIDctrl.z.kD = 1;
%% Velocity -> Acceleration %% Velocity -> Acceleration
% x-dot % 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.kI = 0;
vehicle_params.PIDctrl.x_dot.kD = 0; vehicle_params.PIDctrl.x_dot.kD = 0;
% y-dot % 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.kI = 0;
vehicle_params.PIDctrl.y_dot.kD = 0; vehicle_params.PIDctrl.y_dot.kD = 0;
% z-dot % 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.kI = 0;
vehicle_params.PIDctrl.z_dot.kD = 0; vehicle_params.PIDctrl.z_dot.kD = 0;
...@@ -41,7 +41,7 @@ function [vehicle_params] = setPIDgains(vehicle_params) ...@@ -41,7 +41,7 @@ function [vehicle_params] = setPIDgains(vehicle_params)
vehicle_params.PIDctrl.pitch.kD = 0; vehicle_params.PIDctrl.pitch.kD = 0;
% Yaw % Yaw
vehicle_params.PIDctrl.yaw.kP = 16; vehicle_params.PIDctrl.yaw.kP = 8;
vehicle_params.PIDctrl.yaw.kI = 0; vehicle_params.PIDctrl.yaw.kI = 0;
vehicle_params.PIDctrl.yaw.kD = 0; vehicle_params.PIDctrl.yaw.kD = 0;
......
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