From 7522e482923dbbb3891f1359ec05424436d7eb43 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Sat, 28 Jun 2025 08:36:14 +0100 Subject: [PATCH] AC_AttitudeControl: change default for PSC_VELXY_D to 0.25 for better position control --- libraries/AC_AttitudeControl/AC_PosControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index 026092a6ee..4956888032 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -64,7 +64,7 @@ extern const AP_HAL::HAL& hal; # define POSCONTROL_POS_XY_P 1.0f // horizontal position controller P gain default # define POSCONTROL_VEL_XY_P 2.0f // horizontal velocity controller P gain default # define POSCONTROL_VEL_XY_I 1.0f // horizontal velocity controller I gain default - # define POSCONTROL_VEL_XY_D 0.5f // horizontal velocity controller D gain default + # define POSCONTROL_VEL_XY_D 0.25f // horizontal velocity controller D gain default # define POSCONTROL_VEL_XY_IMAX 1000.0f // horizontal velocity controller IMAX gain default # define POSCONTROL_VEL_XY_FILT_HZ 5.0f // horizontal velocity controller input filter # define POSCONTROL_VEL_XY_FILT_D_HZ 5.0f // horizontal velocity controller input filter for D