[Config] Updated gain from hovering test

itahara-shotaro · Nov 24, 2023 · aba2ca1 · aba2ca1
1 parent a7bccb6
commit aba2ca1
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/robots/assemble_quadrotors/config/AssembleControl.yaml b/robots/assemble_quadrotors/config/AssembleControl.yaml
@@ -8,8 +8,8 @@ assemble:
     trans_rate : 0.999 #0.894
 
     x:
-      p_gain: 3.6
-      i_gain: 0.03
+      p_gain: 12
+      i_gain: 0.3
       d_gain: 4.0
       limit_sum: 4.0
       limit_p: 12.0
@@ -19,7 +19,7 @@ assemble:
 
     y:
       p_gain: 1.8
-      i_gain: 0.015
+      i_gain: 0.15
       d_gain: 2
       limit_sum: 4.0
       limit_p: 12.0
@@ -43,17 +43,17 @@ assemble:
     roll:
       p_gain: 15
       i_gain: 0.3
-      d_gain: 2.5
+      d_gain: 2
       limit_sum: 20.0
       limit_p: 20.0
       limit_i: 20.0
       limit_d: 20.0
       limit_du_err : 0.002
 
     pitch:
-      p_gain: 15
-      i_gain: 0.3
-      d_gain: 2.5
+      p_gain: 30
+      i_gain: 2
+      d_gain: 1.5
       limit_sum: 20.0
       limit_p: 20.0
       limit_i: 20.0