update D term default

breadoven · Jan 10, 2025 · 92e9315 · 92e9315
1 parent 512b677
commit 92e9315
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -3598,7 +3598,7 @@ D gain of altitude PID controller (Fixedwing)
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 6 | 0 | 255 |
+| 10 | 0 | 255 |
 
 ---
 

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -2143,7 +2143,7 @@ groups:
         max: 255
       - name: nav_fw_pos_z_d
         description: "D gain of altitude PID controller (Fixedwing)"
-        default_value: 6
+        default_value: 10
         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
@@ -4960,7 +4960,7 @@ 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 / 200.0f,
+                                        (float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 300.0f,
                                         (float)pidProfile()->bank_fw.pid[PID_POS_Z].FF / 100.0f,
                                         NAV_DTERM_CUT_HZ,
                                         0.0f