Gimbal: match gimbal channels to wiki

- Match gimbal channels to servo gimbal wiki. - Reduce gains on controllers. - Change direction of pitch and yaw. Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · Jun 27, 2024 · 864358d · 864358d
1 parent 9533336
commit 864358d
Showing 1 changed file with 8 additions and 8 deletions.
diff --git a/models/iris_with_gimbal/model.sdf b/models/iris_with_gimbal/model.sdf
@@ -280,37 +280,37 @@
         <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
       </control>
 
-      <control channel="4">
+      <control channel="8">
         <jointName>gimbal::roll_joint</jointName>
         <multiplier>3.14159265</multiplier>
         <offset>-0.5</offset>
         <servo_min>1100</servo_min>
         <servo_max>1900</servo_max>
         <type>COMMAND</type>
         <cmd_topic>/gimbal/cmd_roll</cmd_topic>
-        <p_gain>3</p_gain>
+        <p_gain>2</p_gain>
       </control>
 
-      <control channel="5">
+      <control channel="9">
         <jointName>gimbal::pitch_joint</jointName>
-        <multiplier>3.14159265</multiplier>
+        <multiplier>-3.14159265</multiplier>
         <offset>-0.5</offset>
         <servo_min>1100</servo_min>
         <servo_max>1900</servo_max>
         <type>COMMAND</type>
         <cmd_topic>/gimbal/cmd_pitch</cmd_topic>
-        <p_gain>3</p_gain>
+        <p_gain>2</p_gain>
       </control>
 
-      <control channel="6">
+      <control channel="10">
         <jointName>gimbal::yaw_joint</jointName>
-        <multiplier>3.14159265</multiplier>
+        <multiplier>-3.14159265</multiplier>
         <offset>-0.5</offset>
         <servo_min>1100</servo_min>
         <servo_max>1900</servo_max>
         <type>COMMAND</type>
         <cmd_topic>/gimbal/cmd_yaw</cmd_topic>
-        <p_gain>3</p_gain>
+        <p_gain>2</p_gain>
       </control>
 
     </plugin>