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further reduce motor gains for iris for more stable flight (due to some changes upstream in Copter-3.4rc2).

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This commit is contained in:
John Hsu 2016-08-31 11:09:40 -07:00
parent 8306bffb7d
commit 6ac88696f6
1 changed files with 4 additions and 4 deletions
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8
iris_with_standoffs_demo/model.sdf
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@ -517,7 +517,7 @@
<imuName>iris_demo::iris::iris/imu_link::imu_sensor</imuName>
<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
<rotor id="0">
<vel_p_gain>0.05</vel_p_gain>
<vel_p_gain>0.03</vel_p_gain>
<vel_i_gain>0</vel_i_gain>
<vel_d_gain>0</vel_d_gain>
<vel_i_max>0</vel_i_max>
@ -529,7 +529,7 @@
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
</rotor>
<rotor id="1">
<vel_p_gain>0.05</vel_p_gain>
<vel_p_gain>0.03</vel_p_gain>
<vel_i_gain>0</vel_i_gain>
<vel_d_gain>0</vel_d_gain>
<vel_i_max>0</vel_i_max>
@ -541,7 +541,7 @@
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
</rotor>
<rotor id="2">
<vel_p_gain>0.05</vel_p_gain>
<vel_p_gain>0.03</vel_p_gain>
<vel_i_gain>0</vel_i_gain>
<vel_d_gain>0</vel_d_gain>
<vel_i_max>0</vel_i_max>
@ -553,7 +553,7 @@
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
</rotor>
<rotor id="3">
<vel_p_gain>0.05</vel_p_gain>
<vel_p_gain>0.03</vel_p_gain>
<vel_i_gain>0</vel_i_gain>
<vel_d_gain>0</vel_d_gain>
<vel_i_max>0</vel_i_max>