[Ninja][Controller] modified real-machine control gains (mainly focus…

…ing on d gains to suppress gimbal oscillation)

robots/ninja/config/NinjaControl.yaml

@@ -26,18 +26,18 @@ controller:
     d_gain: 0.07
     i_gain: 0.0
   xy:
-    p_gain: 10.0
-    i_gain: 0.2
-    d_gain: 5.0
+    p_gain: 1.5
+    i_gain: 0.05
+    d_gain: 1.0
     limit_sum: 4.0
     limit_p: 12.0
     limit_i: 5.0
     limit_d: 12.0
 
   z:
-    p_gain: 8.0
-    i_gain: 1.5
-    d_gain: 5.0
+    p_gain: 5.0
+    i_gain: 1.0
+    d_gain: 2.5
     limit_err_p: 1.0
     limit_sum: 25.0 # N for clamping thrust force
     limit_p: 25.0
@@ -46,20 +46,20 @@ controller:
     force_landing_descending_rate: -0.5
 
   roll:
-    p_gain: 17.0 #8~25
-    i_gain: 5.0
-    d_gain: 15.0 #4~11
-    limit_sum: 0.0
+    p_gain: 12.0 #8~25
+    i_gain: 1.0
+    d_gain: 8.0 #4~11
+    limit_sum: 20.0
     limit_p: 20.0
     limit_i: 10.0
     limit_d: 20.0
 
     start_rp_integration_height: 0.01
 
   pitch:
-    p_gain: 17.0 #8~25
-    i_gain: 5.0
-    d_gain: 12.0 #4~11
+    p_gain: 10.0 #8~25
+    i_gain: 1.0
+    d_gain: 2.0 #4~11
     limit_sum: 20.0
     limit_p: 20.0
     limit_i: 10.0
@@ -68,9 +68,9 @@ controller:
     start_rp_integration_height: 0.01
 
   yaw:
-    p_gain: 15.0
+    p_gain: 7.0
     i_gain: 1.0
-    d_gain: 10.0
+    d_gain: 5.0
     limit_err_p: 0.4
     limit_sum: 20.0
     limit_p: 20.0