Commit eb6de156 authored by yean's avatar yean
Browse files

Changed gain parameters to reflect what they were previously

parent 98ac13ed
...@@ -9,25 +9,25 @@ function [vehicle_params] = setPIDgains(vehicle_params) ...@@ -9,25 +9,25 @@ function [vehicle_params] = setPIDgains(vehicle_params)
vehicle_params.PIDctrl.y.kP = 1; vehicle_params.PIDctrl.y.kP = 1;
% z % z
vehicle_params.PIDctrl.z.kP = 1; vehicle_params.PIDctrl.z.kP = 13;
vehicle_params.PIDctrl.z.kI = 0; vehicle_params.PIDctrl.z.kI = 0;
vehicle_params.PIDctrl.z.kD = 0; vehicle_params.PIDctrl.z.kD = 0;
%% Velocity -> Acceleration %% Velocity -> Acceleration
% x-dot % x-dot
vehicle_params.PIDctrl.x_dot.kP = 1; vehicle_params.PIDctrl.x_dot.kP = 1.5;
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 = 1;
% y-dot % y-dot
vehicle_params.PIDctrl.y_dot.kP = 1; vehicle_params.PIDctrl.y_dot.kP = 1.5;
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 = 1;
% z-dot % z-dot
vehicle_params.PIDctrl.z_dot.kP = 1; vehicle_params.PIDctrl.z_dot.kP = 15;
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 = 5;
%% Attitude -> Attitude Rate %% Attitude -> Attitude Rate
% Roll % Roll
...@@ -48,18 +48,18 @@ function [vehicle_params] = setPIDgains(vehicle_params) ...@@ -48,18 +48,18 @@ function [vehicle_params] = setPIDgains(vehicle_params)
%% Attitude Rate -> Torques %% Attitude Rate -> Torques
% Roll Rate % Roll Rate
vehicle_params.PIDctrl.roll_rate.kP = 1; vehicle_params.PIDctrl.roll_rate.kP = 1;
vehicle_params.PIDctrl.roll_rate.kI = 0; vehicle_params.PIDctrl.roll_rate.kI = 0.25;
vehicle_params.PIDctrl.roll_rate.kD = 0; vehicle_params.PIDctrl.roll_rate.kD = 0.25;
% Pitch Rate % Pitch Rate
vehicle_params.PIDctrl.pitch_rate.kP = 1; vehicle_params.PIDctrl.pitch_rate.kP = 1;
vehicle_params.PIDctrl.pitch_rate.kI = 0; vehicle_params.PIDctrl.pitch_rate.kI = 0.25;
vehicle_params.PIDctrl.pitch_rate.kD = 0; vehicle_params.PIDctrl.pitch_rate.kD = 0.25;
% Yaw Rate % Yaw Rate
vehicle_params.PIDctrl.yaw_rate.kP = 1; vehicle_params.PIDctrl.yaw_rate.kP = 1;
vehicle_params.PIDctrl.yaw_rate.kI = 0; vehicle_params.PIDctrl.yaw_rate.kI = 0.25;
vehicle_params.PIDctrl.yaw_rate.kD = 0; vehicle_params.PIDctrl.yaw_rate.kD = 0.25;
end end
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment