From a864b66551a4323930620b511833e8e36de4511d Mon Sep 17 00:00:00 2001 From: Petri Mattila Date: Wed, 9 Oct 2024 08:46:03 +0100 Subject: [PATCH] Change Cyclic Cross-Coupling defaults to 50/0/2.5 --- src/main/pg/pid.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/pg/pid.c b/src/main/pg/pid.c index dd6a1abb9e..963c0db98c 100644 --- a/src/main/pg/pid.c +++ b/src/main/pg/pid.c @@ -84,9 +84,9 @@ void resetPidProfile(pidProfile_t *pidProfile) .yaw_collective_dynamic_gain = 0, .yaw_collective_dynamic_decay = 25, .pitch_collective_ff_gain = 0, - .cyclic_cross_coupling_gain = 5, + .cyclic_cross_coupling_gain = 50, .cyclic_cross_coupling_ratio = 0, - .cyclic_cross_coupling_cutoff = 150, + .cyclic_cross_coupling_cutoff = 25, .angle.level_strength = 40, .angle.level_limit = 55, .horizon.level_strength = 40,