From 0adaa167b1a0ab5074e74d4e184b5b8ca6b52ce6 Mon Sep 17 00:00:00 2001
From: PX4BuildBot <bot@px4.io>
Date: Mon, 29 Jul 2019 14:50:51 +0000
Subject: [PATCH] Update PX4 Firmware metadata Mon Jul 29 14:50:51 UTC 2019

---
 .../PX4/PX4ParameterFactMetaData.xml          | 26 +++++++++----------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 7f8cf47cf..4e99381ae 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -2113,7 +2113,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
-    <parameter default="0.02" name="FW_PR_I" type="FLOAT">
+    <parameter default="0.1" name="FW_PR_I" type="FLOAT">
       <short_desc>Pitch rate integrator gain</short_desc>
       <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
       <min>0.005</min>
@@ -2199,7 +2199,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
-    <parameter default="0.01" name="FW_RR_I" type="FLOAT">
+    <parameter default="0.1" name="FW_RR_I" type="FLOAT">
       <short_desc>Roll rate integrator Gain</short_desc>
       <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
       <min>0.005</min>
@@ -2309,7 +2309,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
-    <parameter default="0.01" name="FW_YR_I" type="FLOAT">
+    <parameter default="0.1" name="FW_YR_I" type="FLOAT">
       <short_desc>Yaw rate integrator gain</short_desc>
       <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
       <min>0.0</min>
@@ -4382,7 +4382,7 @@ default 1.5 turns per second</short_desc>
     </parameter>
   </group>
   <group name="Multicopter Position Control">
-    <parameter default="10.0" name="MPC_ACC_DOWN_MAX" type="FLOAT">
+    <parameter default="3.0" name="MPC_ACC_DOWN_MAX" type="FLOAT">
       <short_desc>Maximum vertical acceleration in velocity controlled modes down</short_desc>
       <min>2.0</min>
       <max>15.0</max>
@@ -4390,7 +4390,7 @@ default 1.5 turns per second</short_desc>
       <decimal>2</decimal>
       <increment>1</increment>
     </parameter>
-    <parameter default="5.0" name="MPC_ACC_HOR" type="FLOAT">
+    <parameter default="3.0" name="MPC_ACC_HOR" type="FLOAT">
       <short_desc>Acceleration for auto and for manual</short_desc>
       <long_desc>Note: In manual, this parameter is only used in MPC_POS_MODE 1.</long_desc>
       <min>2.0</min>
@@ -4410,7 +4410,7 @@ the vehicle will accelerate at this rate until the normal position control speed
       <decimal>1</decimal>
       <increment>0.1</increment>
     </parameter>
-    <parameter default="10.0" name="MPC_ACC_HOR_MAX" type="FLOAT">
+    <parameter default="5.0" name="MPC_ACC_HOR_MAX" type="FLOAT">
       <short_desc>Maximum horizontal acceleration for auto mode and for manual mode</short_desc>
       <long_desc>Manual mode: Maximum deceleration for MPC_POS_MODE 1 and 2. Maximum acceleration and deceleration for MPC_POS_MODE 3. Auto mode: Used with MPC_AUTO_MODE 0 only. For MPC_AUTO_MODE 1, MPC_ACC_HOR is always used.</long_desc>
       <min>2.0</min>
@@ -4419,7 +4419,7 @@ the vehicle will accelerate at this rate until the normal position control speed
       <decimal>2</decimal>
       <increment>1</increment>
     </parameter>
-    <parameter default="10.0" name="MPC_ACC_UP_MAX" type="FLOAT">
+    <parameter default="4.0" name="MPC_ACC_UP_MAX" type="FLOAT">
       <short_desc>Maximum vertical acceleration in velocity controlled modes upward</short_desc>
       <min>2.0</min>
       <max>15.0</max>
@@ -4563,14 +4563,14 @@ is 90 degrees. It should be lower than MPC_XY_CRUISE</short_desc>
       <unit>deg</unit>
       <decimal>1</decimal>
     </parameter>
-    <parameter default="200.0" name="MPC_MAN_Y_MAX" type="FLOAT">
+    <parameter default="150.0" name="MPC_MAN_Y_MAX" type="FLOAT">
       <short_desc>Max manual yaw rate</short_desc>
       <min>0.0</min>
       <max>400</max>
       <unit>deg/s</unit>
       <decimal>1</decimal>
     </parameter>
-    <parameter default="1" name="MPC_POS_MODE" type="INT32">
+    <parameter default="3" name="MPC_POS_MODE" type="INT32">
       <short_desc>Manual-Position control sub-mode</short_desc>
       <long_desc>The supported sub-modes are: 0 Default position control where sticks map to position/velocity directly. Maximum speeds is MPC_VEL_MANUAL. 1 Smooth position control where setpoints are adjusted based on acceleration limits and jerk limits. 2 Sport mode that is the same Default position control but with velocity limits set to the maximum allowed speeds (MPC_XY_VEL_MAX) 3 Smooth position control with maximum acceleration and jerk limits (different algorithm than 1).</long_desc>
       <values>
@@ -4677,7 +4677,7 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
       <decimal>2</decimal>
       <increment>1</increment>
     </parameter>
-    <parameter default="0.0" name="MPC_XY_MAN_EXPO" type="FLOAT">
+    <parameter default="0.6" name="MPC_XY_MAN_EXPO" type="FLOAT">
       <short_desc>Manual position control stick exponential curve sensitivity</short_desc>
       <long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve</long_desc>
       <min>0</min>
@@ -4724,14 +4724,14 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
       <max>0.15</max>
       <decimal>2</decimal>
     </parameter>
-    <parameter default="0.0" name="MPC_YAW_EXPO" type="FLOAT">
+    <parameter default="0.6" name="MPC_YAW_EXPO" type="FLOAT">
       <short_desc>Manual control stick yaw rotation exponential curve</short_desc>
       <long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve</long_desc>
       <min>0</min>
       <max>1</max>
       <decimal>2</decimal>
     </parameter>
-    <parameter default="0.0" name="MPC_Z_MAN_EXPO" type="FLOAT">
+    <parameter default="0.6" name="MPC_Z_MAN_EXPO" type="FLOAT">
       <short_desc>Manual control stick vertical exponential curve</short_desc>
       <long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve</long_desc>
       <min>0</min>
@@ -4756,7 +4756,7 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
       <max>0.1</max>
       <decimal>3</decimal>
     </parameter>
-    <parameter default="0.02" name="MPC_Z_VEL_I" type="FLOAT">
+    <parameter default="0.1" name="MPC_Z_VEL_I" type="FLOAT">
       <short_desc>Integral gain for vertical velocity error</short_desc>
       <long_desc>Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.</long_desc>
       <min>0.01</min>
-- 
2.22.0