From c272c4d4fcb301cf3ab88237df7a30a5118659a3 Mon Sep 17 00:00:00 2001
From: abeck70 <abeck70@icloud.com>
Date: Fri, 22 May 2015 19:07:06 +1000
Subject: [PATCH] OP-1898 VelocityRoam AltVario update tuning values based on
 FTT feedback

---
 shared/uavobjectdefinition/altitudeholdsettings.xml     | 4 ++--
 shared/uavobjectdefinition/vtolpathfollowersettings.xml | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/shared/uavobjectdefinition/altitudeholdsettings.xml b/shared/uavobjectdefinition/altitudeholdsettings.xml
index 7058041e2..d621b1ca6 100644
--- a/shared/uavobjectdefinition/altitudeholdsettings.xml
+++ b/shared/uavobjectdefinition/altitudeholdsettings.xml
@@ -5,8 +5,8 @@
     <field name="ThrustExp" units="" type="uint8" elements="1" defaultvalue="128" />
     <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, 0.45, 0.001, 0.95"/>
+    <field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.3"/>
+    <field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.25, 0.005, 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 62469c113..47e43f06f 100644
--- a/shared/uavobjectdefinition/vtolpathfollowersettings.xml
+++ b/shared/uavobjectdefinition/vtolpathfollowersettings.xml
@@ -6,9 +6,9 @@
         <field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="4.0" description="maximum allowed climb/dive velocity"/>
         <field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0"/>
         <field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.25"/>
-        <field name="VerticalPosP" units="" type="float" elements="1" defaultvalue="0.4"/>
+        <field name="VerticalPosP" units="" type="float" elements="1" defaultvalue="0.3"/>
         <field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="8.0, 0.5, 0.001, 0.95"/>
-        <field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.35, 0.45, 0.001, 0.95"/>
+        <field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.25, 0.005, 0.95"/>
         <field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
         <field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="2"/>
         <field name="ThrustControl" units="" type="enum" elements="1" options="manual,auto" defaultvalue="auto"/>
@@ -21,7 +21,7 @@
         <field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="50"/>
         <field name="BrakeRate" units="m/s2" type="float" elements="1" defaultvalue="2.5"/>
         <field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
-        <field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="12.0, 0.0, 0.03, 0.95"/>
+        <field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="18.0, 0.0, 0.001, 0.95"/>
         <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="0.42, 3.0, 0.02, 0.95"/>
         <field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>