From 1e562b3baafb6e889ab6cac4c2b4974691e69505 Mon Sep 17 00:00:00 2001
From: Joshua Davidson <joshuadavidson2000@gmail.com>
Date: Sat, 27 May 2017 12:41:35 -0400
Subject: [PATCH] improve FBW

---
 Systems/it-fbw-b.xml | 12 ++++++------
 Systems/it-fbw.xml   | 26 +++++++++++++-------------
 2 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/Systems/it-fbw-b.xml b/Systems/it-fbw-b.xml
index 3ba2867e..8dd4f26d 100644
--- a/Systems/it-fbw-b.xml
+++ b/Systems/it-fbw-b.xml
@@ -106,7 +106,7 @@
 			<property>/controls/flight/aileron-fbw-cmd</property>
 		</output>
 		<config>
-			<Kp>0.12</Kp>
+			<Kp>0.14</Kp>
 			<beta>1</beta>
 			<alpha>0.1</alpha>
 			<gamma>0</gamma>
@@ -247,12 +247,12 @@
 			<property>/controls/flight/elevator-fbw-cmd</property>
 		</output>
 		<config>
-			<Kp>-0.29</Kp>
+			<Kp>-0.25</Kp>
 			<beta>1</beta>
 			<alpha>0.1</alpha>
 			<gamma>0</gamma>
 			<Ti>5</Ti>
-			<Td>0.1</Td>
+			<Td>0.08</Td>
 			<u_min>-1</u_min>
 			<u_max>1</u_max>
 		</config>
@@ -541,14 +541,14 @@
 			<property>/controls/flight/rudder-fbw-cmd</property>
 		</output>
 		<config>
-			<Kp>0.05</Kp>
+			<Kp>0.03</Kp>
 			<beta>1</beta>
 			<alpha>0.1</alpha>
 			<gamma>0</gamma>
 			<Ti>5.0</Ti>
 			<Td>0.00000001</Td>
-			<u_min>-0.4</u_min>
-			<u_max>0.4</u_max>
+			<u_min>-0.3</u_min>
+			<u_max>0.3</u_max>
 		</config>
 	</pid-controller>
 	
diff --git a/Systems/it-fbw.xml b/Systems/it-fbw.xml
index 7496348f..334a3013 100644
--- a/Systems/it-fbw.xml
+++ b/Systems/it-fbw.xml
@@ -97,19 +97,19 @@
 						<table>
 							<independentVar lookup="row">/controls/flight/elevator-input</independentVar>
 							<tableData>
-							-1.0      0.1
-							-0.7      0.05
-							-0.5      0.02
-							-0.3      0.01
-							-0.15     0.005
-							-0.05     0.001
-							 0.00     0.00
-							 0.05    -0.001
-							 0.15    -0.005
-							 0.3     -0.01
-							 0.5     -0.02
-							 0.7     -0.05
-							 1.0     -0.1
+							-1.0      0.075
+							-0.7      0.04
+							-0.5      0.015
+							-0.3      0.005
+							-0.15     0.0015
+							-0.05     0.00075
+							 0.00     0.0000
+							 0.05    -0.00075
+							 0.15    -0.0015
+							 0.3     -0.005
+							 0.5     -0.015
+							 0.7     -0.04
+							 1.0     -0.075
 							</tableData>
 						</table>
 					</sum>