From abd701c4f4cdd4510e8716c95c083e8fd38f9527 Mon Sep 17 00:00:00 2001
From: Shengwen Cheng <shengwen1997.tw@gmail.com>
Date: Sat, 1 Jun 2024 17:34:49 +0800
Subject: [PATCH] Tune quadrotor parameters

---
 user/quadrotor/quadrotor.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/user/quadrotor/quadrotor.c b/user/quadrotor/quadrotor.c
index aa61f98..b314ca3 100644
--- a/user/quadrotor/quadrotor.c
+++ b/user/quadrotor/quadrotor.c
@@ -62,7 +62,7 @@ typedef struct {
 
 static pid_control_t pid_roll = {
     .kp = 0.008f,
-    .kd = 0.0035f,
+    .kd = 0.003f,
     .output_max = +1.0f,  //+100%
     .output_min = -1.0f,  //-100%
     .enable = true,
@@ -70,7 +70,7 @@ static pid_control_t pid_roll = {
 
 static pid_control_t pid_pitch = {
     .kp = 0.008f,
-    .kd = 0.0035f,
+    .kd = 0.003f,
     .output_max = +1.0f,
     .output_min = -1.0f,
     .enable = true,
@@ -319,7 +319,7 @@ void flight_control_task(void)
     setprogname("flight control");
 
     /* Initialize Madgwick Filter for attitude estimation */
-    madgwick_init(&madgwick_ahrs, 400, 0.13);
+    madgwick_init(&madgwick_ahrs, 400, 0.105);
 
     /* Open RGB LED */
     int led_fd = open("/dev/led", 0);