final update

class_model/include/class_model/formation.h

@@ -55,8 +55,8 @@ private:
     int flag = 0,heading_status = 0,buf = 0;
     float pre_alt,cur_alt;
     float error_lon,error_lat;
-    float leader_pid[3] = {1 , 0.000000000001 ,0};
+    float leader_pid[3] = {0.5 , 0.000001 ,0.001};
-    float follower_pid[3] = {1 , 0.00000000001 ,0};
+    float follower_pid[3] = {0.5 , 0.000001 ,0.001};
     float ignore_small = 0.50;
 
     void calculate_position(float k,float theta,int direction=0);