From 00aae3c5a31809ef1f64143a9ddb5d3f853de67a Mon Sep 17 00:00:00 2001
From: abeck70 <abeck70@icloud.com>
Date: Mon, 4 May 2015 08:50:44 +1000
Subject: [PATCH] OP-1847 altvario update of tuning parameters for piddown
 control

---
 shared/uavobjectdefinition/altitudeholdsettings.xml     | 2 +-
 shared/uavobjectdefinition/vtolpathfollowersettings.xml | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/shared/uavobjectdefinition/altitudeholdsettings.xml b/shared/uavobjectdefinition/altitudeholdsettings.xml
index f0a171b4b..1763d5568 100644
--- a/shared/uavobjectdefinition/altitudeholdsettings.xml
+++ b/shared/uavobjectdefinition/altitudeholdsettings.xml
@@ -6,7 +6,7 @@
     <field name="ThrustRate" units="m/s" type="float" elements="1" defaultvalue="5" />
     <field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
     <field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.4"/>
-    <field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.35, 3.0, 0.05, 0.9"/>
+    <field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.1, 0.0005, 0.95"/>
     <access gcs="readwrite" flight="readwrite"/>
     <telemetrygcs acked="true" updatemode="onchange" period="0"/>
     <telemetryflight acked="true" updatemode="onchange" period="0"/>
diff --git a/shared/uavobjectdefinition/vtolpathfollowersettings.xml b/shared/uavobjectdefinition/vtolpathfollowersettings.xml
index c98ad4254..86eea36bc 100644
--- a/shared/uavobjectdefinition/vtolpathfollowersettings.xml
+++ b/shared/uavobjectdefinition/vtolpathfollowersettings.xml
@@ -23,8 +23,8 @@
         <field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
         <field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="12.0, 0.0, 0.03, 15"/>
         <field name="BrakeVelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
-        <field name="LandVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.35, 3.0, 0.05, 0.9"/>
-        <field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.35, 3.0, 0.05, 0.9"/>
+        <field name="LandVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.9"/>
+        <field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.9"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>