change fw_pos_z_d settings

breadoven · Jan 4, 2025 · 7f18766 · 7f18766
1 parent 5c14c31
commit 7f18766
Show file tree

Hide file tree

Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -3478,7 +3478,7 @@ D gain of altitude PID controller (Fixedwing)
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 10 | 0 | 255 |
+| 6 | 0 | 255 |
 
 ---
 

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -2132,7 +2132,7 @@ groups:
         max: 255
       - name: nav_fw_pos_z_d
         description: "D gain of altitude PID controller (Fixedwing)"
-        default_value: 10
+        default_value: 6
         field: bank_fw.pid[PID_POS_Z].D
         min: 0
         max: 255

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
@@ -4728,7 +4728,7 @@ void navigationUsePIDs(void)
 
     navPidInit(&posControl.pids.fw_alt, (float)pidProfile()->bank_fw.pid[PID_POS_Z].P / 100.0f,
                                         (float)pidProfile()->bank_fw.pid[PID_POS_Z].I / 100.0f,
-                                        (float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 100.0f,
+                                        (float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 200.0f,
                                         0.0f,
                                         NAV_DTERM_CUT_HZ,
                                         0.0f