From 766f911005dc4949925a46507236c62582d54d59 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Mon, 14 Jan 2019 11:35:28 +0100
Subject: [PATCH] beta75 - Reduce MC_YAWRATE_P to avoid oscillations when
 battery is fully charged

---
 ROMFS/px4fmu_common/init.d/airframes/4041_beta75x | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
index 02234da2da..2f4949b49a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
@@ -41,7 +41,7 @@ then
 	param set MC_ROLLRATE_P 0.0750
 	param set MC_YAWRATE_I 0.3
 	param set MC_YAWRATE_MAX 400
-	param set MC_YAWRATE_P 0.17
+	param set MC_YAWRATE_P 0.12
 	param set MC_YAW_P 4
 
 	param set MPC_MANTHR_MIN 0
-- 
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