pid tuning to avoid high frequency oscillations

tiiuae · Aug 9, 2023 · d7de072 · d7de072
1 parent 3079e22
commit d7de072
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4401_ssrc_fog_x_tmotor b/ROMFS/px4fmu_common/init.d/airframes/4401_ssrc_fog_x_tmotor
@@ -23,6 +23,10 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
 
+# Master gain parameters
+param set-default MC_ROLLRATE_K 0.4
+param set-default MC_PITCHRATE_K 0.4
+
 # Control allocator parameters
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.25