From df2d2ec22458ff915e77241cf7fba95207301f7d Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Wed, 31 Aug 2016 23:36:30 -0700
Subject: [PATCH] lower gains further

---
 iris_with_standoffs_demo/model.sdf | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/iris_with_standoffs_demo/model.sdf b/iris_with_standoffs_demo/model.sdf
index aef58d0..b7737d5 100644
--- a/iris_with_standoffs_demo/model.sdf
+++ b/iris_with_standoffs_demo/model.sdf
@@ -517,7 +517,7 @@
       <imuName>iris_demo::iris::iris/imu_link::imu_sensor</imuName>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <rotor id="0">
-        <vel_p_gain>0.03</vel_p_gain>
+        <vel_p_gain>0.01</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>0.03</vel_p_gain>
+        <vel_p_gain>0.01</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>0.03</vel_p_gain>
+        <vel_p_gain>0.01</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>0.03</vel_p_gain>
+        <vel_p_gain>0.01</vel_p_gain>
         <vel_i_gain>0</vel_i_gain>
         <vel_d_gain>0</vel_d_gain>
         <vel_i_max>0</vel_i_max>