From 0b79f33c7273c134bcf15e907da4dfc02b9cc8ec Mon Sep 17 00:00:00 2001
From: JMoore5353 <jacobmoor2@gmail.com>
Date: Thu, 6 Jun 2024 14:03:32 -0600
Subject: [PATCH] tuned sim parameters

---
 rosplane/params/anaconda_autopilot_params.yaml | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/rosplane/params/anaconda_autopilot_params.yaml b/rosplane/params/anaconda_autopilot_params.yaml
index 85b7c05..b1ea678 100644
--- a/rosplane/params/anaconda_autopilot_params.yaml
+++ b/rosplane/params/anaconda_autopilot_params.yaml
@@ -3,20 +3,20 @@ autopilot: # node name.
     alt_hz: 10.0
     alt_toz: 5.0
     tau: 50.0
-    c_kp: 0.8
+    c_kp: 3.0
     c_kd: 0.0
-    c_ki: 0.08
-    r_kp: 0.06
-    r_kd: 0.04
+    c_ki: 0.0
+    r_kp: 0.75
+    r_kd: 0.1
     r_ki: 0.0
-    p_kp: -0.3
+    p_kp: -0.5
     p_kd: -0.095
     p_ki: 0.0
     p_ff: 0.0
     a_t_kp: 0.05
     a_t_kd: 0.0
     a_t_ki: 0.005
-    a_kp: 0.02
+    a_kp: 0.1
     a_kd: 0.0
     a_ki: 0.01
     l_kp: .5
@@ -30,7 +30,7 @@ autopilot: # node name.
     trim_r: 0.0
     trim_t: 0.5
     max_e: 0.61
-    max_a: 0.15
+    max_a: 0.60
     max_r: 0.523
     max_t: 1.0
     pwm_rad_e: 1.0
@@ -39,7 +39,7 @@ autopilot: # node name.
     max_takeoff_throttle: 1.0
     mass: 4.5
     gravity: 9.8
-    max_roll: 25.0
+    max_roll: 35.0
     frequency: 100
 
 path_manager: