From 79f2ac5450a9570c30ed15609fcc4e081d6d2835 Mon Sep 17 00:00:00 2001
From: franchioping <franchioping@galard.uk>
Date: Mon, 20 Apr 2026 03:13:52 +0100
Subject: [PATCH] before sim

---
 main/drone.cpp | 11 ++++++-----
 main/drone.h   |  2 +-
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/main/drone.cpp b/main/drone.cpp
index dc30826..52c58b9 100644
--- a/main/drone.cpp
+++ b/main/drone.cpp
@@ -2,7 +2,8 @@
 
 #include "DShotRMT.h"
 #include "Eigen/Core"
-#include "Eigen/Geometry" #include "driver/rmt_tx.h"
+#include "Eigen/Geometry"
+#include "driver/rmt_tx.h"
 #include "drone_comms.h"
 #include "drone_controller.h"
 
@@ -49,16 +50,16 @@ dcont::ControllerConfig default_config() {
 
   // Rotation Loop (Rotation/Accel -> Angular Rate)
   config.stack.rotation_pid = {
-      .kp = {1.0f, 1.0f, 2.0f},
-      .ki = {0.01f, 0.01f, 0.02f},
-      .kd = {0.1f, 0.1f, 0.0f},
+      .kp = {1.0f, 10.0f, 2.0f},
+      .ki = {0.01f, 1.0f, 0.02f},
+      .kd = {0.1f, 0.0f, 0.0f},
       .integral_cap = {4.0f, 4.0f, 4.0f},
       .frequency = 200.0f,
   };
 
   // Rate Loop (Angular Rate -> Torque) - The "Inner" Loop
   config.stack.rate_pid = {
-      .kp = {0.0f, 0.0f, 1.0f},
+      .kp = {0.0f, 0.5f, 0.0f},
       .ki = {0.00f, 0.00f, 0.0f},
       .kd = {0.000f, 0.000f, 0.0f},
       .integral_cap = {1.0f, 1.0f, 1.0f},
diff --git a/main/drone.h b/main/drone.h
index 913ab3a..696b9a8 100644
--- a/main/drone.h
+++ b/main/drone.h
@@ -88,7 +88,7 @@ struct drone_cont_state {
                                                  .yaw_input = 0.0,
                                                  .pitch_input = 0.0},
                                     .acceleration = {0.0, 0.0, 0.0},
-                                    .rotation = {0.0, 0.05 * M_PI, 0.0},
+                                    .rotation = {0.0, 0.0, M_PI},
                                     .velocity = {0.0, 0.0, 0.0},
                                     .position = {0.0, 0.0, 0.0},
                                     .mode = dcont::ModeInput::Rotation});