From dd0d1f001ebb02b8258607d83e5b5b7e6f9e9553 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 8 Apr 2016 21:25:55 -0700
Subject: [PATCH] MPC velocity controller: Reduce gain to stabilize control
 loop

---
 src/modules/mc_pos_control/mc_pos_control_params.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 1b94da7673..2433c0c856 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -213,7 +213,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 1.25f);
  * @decimal 2
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.08f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.065f);
 
 /**
  * Integral gain for horizontal velocity error
-- 
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