LQGSettings: New defaults.

d-ronin · Feb 3, 2018 · a0532e8 · a0532e8
1 parent fc46d74
commit a0532e8
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/shared/uavobjectdefinition/lqgsettings.xml b/shared/uavobjectdefinition/lqgsettings.xml
@@ -5,10 +5,10 @@
     <logging updatemode="manual" period="0"/>
     <telemetrygcs acked="true" updatemode="onchange" period="0"/>
     <telemetryflight acked="true" updatemode="onchange" period="0"/>
-    <field defaultvalue="25, 100, 1, 0.000002, 0.0000002" name="RTKF" type="float" units="" elementnames="R, YawR, Q1, Q2, Q3">
+    <field defaultvalue="200, 100, 1, 0.000001, 0.000002" name="RTKF" type="float" units="" elementnames="R, YawR, Q1, Q2, Q3">
         <description>Weights for the Rate-Torque Kalman filter.</description>
     </field>
-    <field defaultvalue="0.00075, 0.004, 0, 0.0002, 0.003, 0.3" name="LQR" type="float" units="" elementnames="Q1, Q2, YawBetaOffset, YawQ1, YawQ2, BiasLimit">
+    <field defaultvalue="0.0001, 0.0005, 0, 0.0002, 0.003, 0.3" name="LQR" type="float" units="" elementnames="Q1, Q2, YawBetaOffset, YawQ1, YawQ2, BiasLimit">
         <description>Weights for the LQ-regulator.</description>
     </field>
   </object>