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Increase body rate P gain for crazyflie controller #40

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Merged
spencerfolk merged 1 commit into from
Apr 22, 2026
Merged

Increase body rate P gain for crazyflie controller #40

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4 changes: 2 additions & 2 deletions rotorpy/vehicles/crazyflie_params.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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)

}
}
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