[paparazzi-commits] [6331] changed gains due to more rigid props

[antoine drouin]

Revision: 6331
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6331
Author:   poine
Date:     2010-11-04 15:39:51 +0000 (Thu, 04 Nov 2010)
Log Message:
-----------
changed gains due to more rigid props

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml  2010-11-04 15:39:14 UTC 
(rev 6330)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml  2010-11-04 15:39:51 UTC 
(rev 6331)
@@ -125,22 +125,22 @@
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
-    <define name="PHI_PGAIN"  value="-2000"/>
-    <define name="PHI_DGAIN"  value="-400"/>
+    <define name="PHI_PGAIN"  value="-900"/>
+    <define name="PHI_DGAIN"  value="-200"/>
     <define name="PHI_IGAIN"  value="-200"/>
 
-    <define name="THETA_PGAIN"  value="-2000"/>
-    <define name="THETA_DGAIN"  value="-400"/>
-    <define name="THETA_IGAIN"  value="-400"/>
+    <define name="THETA_PGAIN"  value="-900"/>
+    <define name="THETA_DGAIN"  value="-200"/>
+    <define name="THETA_IGAIN"  value="-200"/>
 
-    <define name="PSI_PGAIN"  value="-1000"/>
-    <define name="PSI_DGAIN"  value="-350"/>
+    <define name="PSI_PGAIN"  value="-900"/>
+    <define name="PSI_DGAIN"  value="-200"/>
     <define name="PSI_IGAIN"  value="-10"/>
 
     <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value=" 300"/>
-    <define name="THETA_DDGAIN" value=" 300"/>
-    <define name="PSI_DDGAIN"   value=" 300"/>
+    <define name="PHI_DDGAIN"   value=" 200"/>
+    <define name="THETA_DDGAIN" value=" 200"/>
+    <define name="PSI_DDGAIN"   value=" 200"/>
 
   </section>