update coefficients

controller/parameters.h

@@ -4,31 +4,31 @@
 //----------------------------------------------------------
 #define GAIN_PITCH       0.8                 // Pitch servo
 #define GAIN_ROLL        0.8                 // Roll servo
-#define GAIN_YAW         1.2                 // Yaw servo / Tail ESC
+#define GAIN_YAW         1.6                 // Yaw servo / Tail ESC
 
 //----------------------------------------------------------
 //                  2A. Heading stabilization
 //---------------------------s-------------------------------
 /* NOTE: For a given axis, the propotional, integral and 
          derivative terms must have the same sign */
   // I. Proportional:                         // Proportional gain. Adjusts damping response. Increase to retard rotation. 
-#define GAIN_PROP_ROLL    100.0
-#define GAIN_PROP_PITCH   400.0
-#define GAIN_PROP_YAW     15.0
+#define GAIN_PROP_ROLL    140.0
+#define GAIN_PROP_PITCH   350.0
+#define GAIN_PROP_YAW     18.0
 
   // II. Integral:                            // Integral gain. Adjusts spring respose. Increase to have a stronger restoring force.
-#define GAIN_INT_ROLL     800.0
-#define GAIN_INT_PITCH    1000.0
+#define GAIN_INT_ROLL     700.0
+#define GAIN_INT_PITCH    900.0
 #define GAIN_INT_YAW      150.0
 
   // III. Derivative:                         // Derivative gain. Reduces oscillations of proportional term. Magnifies vibration noise.
 #define GAIN_DERIV_ROLL   8.0
-#define GAIN_DERIV_PITCH  12.0
-#define GAIN_DERIV_YAW    0.5
+#define GAIN_DERIV_PITCH  10.0
+#define GAIN_DERIV_YAW    1.0
 
   // IV. Phase angle
-#define STAT_ANGLE        55.0     // deg      // Pitch-roll coupling angle. Adjust until control axes respond independently.
-#define DYN_ANGLE         55.0     // deg
+#define STAT_ANGLE        60.0     // deg      // Pitch-roll coupling angle. Adjust until control axes respond independently.
+#define DYN_ANGLE         60.0     // deg
 
   // V. Other:      
 #define NEGATE_ROLL                            // Uncomment to reverse roll deflection
@@ -63,7 +63,7 @@
 #define NUMBER_MEAN       50                  // number of readings used for input calibration
 #define INPUT_DEADBAND    24      // us       // deadband near center-stick to prevent integrator drift.
 #define INPUT_CHANGE      4       // us       // Change in PWM signal needed to update receiver inputs
-#define ALPHA             0.6                /* Gain of alpha-beta filter applied to sensor input. 
+#define ALPHA             0.4                /* Gain of alpha-beta filter applied to sensor input. 
                                                A smaller value smoothens the derivative at the cost of slower response */
 //----------------------------------------------------------
 //                  5. Tail rotor counter-torque