From fd0c03966a00be2c938b95ca1b61ccddf575973b Mon Sep 17 00:00:00 2001
From: Daniel Schenk <102045363+DanielPSchenk@users.noreply.github.com>
Date: Thu, 2 Apr 2026 08:58:21 +0200
Subject: [PATCH] Increase body rate P gain for controller

Increase body rate P gain for controller
---
 rotorpy/vehicles/crazyflie_params.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/rotorpy/vehicles/crazyflie_params.py b/rotorpy/vehicles/crazyflie_params.py
index 0d345b8..7dae478 100644
--- a/rotorpy/vehicles/crazyflie_params.py
+++ b/rotorpy/vehicles/crazyflie_params.py
@@ -59,9 +59,9 @@
     'motor_noise_std': 0.0,     # rad/s
 
     # Lower level controller properties (for higher level control abstractions)
-    'k_w': 1,               # The body rate P gain (for cmd_ctbr)
+    'k_w': 200,               # The body rate P gain (for cmd_ctbr)
     'k_v': 10,              # The *world* velocity P gain (for cmd_vel)
     'kp_att': 1030,      # The attitude P gain (for cmd_vel, cmd_acc, and cmd_ctatt)
     'kd_att': 51,       # The attitude D gain (for cmd_vel, cmd_acc, and cmd_ctatt)
 
-}
\ No newline at end of file
+}