final update

3 years ago · fad974d5eb
parent 5b67deb0c6
commit fad974d5eb
1 changed files with 3 additions and 3 deletions
--- a/class_model/include/class_model/formation.h
+++ b/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 follower_pid[3] = {1 , 0.00000000001 ,0};
+    float leader_pid[3] = {0.5 , 0.000001 ,0.001};
+    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);