From 50f505823edcfbb5003e695059c2166bd809ac5b Mon Sep 17 00:00:00 2001
From: Junichiro Sugihara <j-sugihara@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 19 May 2024 23:38:25 +0900
Subject: [PATCH] [Gimbalrotor][dragonfly] change gains

---
 .../config/dragonfly/GimbalrotorControl.yaml         | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/robots/gimbalrotor/config/dragonfly/GimbalrotorControl.yaml b/robots/gimbalrotor/config/dragonfly/GimbalrotorControl.yaml
index 11e13e3fd..9be92c807 100644
--- a/robots/gimbalrotor/config/dragonfly/GimbalrotorControl.yaml
+++ b/robots/gimbalrotor/config/dragonfly/GimbalrotorControl.yaml
@@ -7,9 +7,9 @@ controller:
   gimbal_dof : 2
 
   xy:
-    p_gain: 3.0
-    i_gain: 0.05
-    d_gain: 1.5
+    p_gain: 7.0
+    i_gain: 0.1
+    d_gain: 3.5
     limit_sum: 4.0
     limit_p: 12.0
     limit_i: 12.0
@@ -27,7 +27,7 @@ controller:
     force_landing_descending_rate: -0.5
 
   roll_pitch:
-    p_gain: 22.0
+    p_gain: 30.0
     i_gain: 1.0
     d_gain: 14.0
     limit_sum: 20.0
@@ -38,9 +38,9 @@ controller:
     start_rp_integration_height: 0.01
 
   yaw:
-    p_gain: 5.0
+    p_gain: 10.0
     i_gain: 1.0
-    d_gain: 4.0
+    d_gain: 3.0
     limit_err_p: 0.4
     limit_sum: 20.0
     limit_p: 20.0