From 5a0cfc316818994ae5997414830bad793b5ca1ff Mon Sep 17 00:00:00 2001
From: Pernilla <pernilla@auterion.com>
Date: Wed, 27 Nov 2024 14:48:11 +0100
Subject: [PATCH] Tuning

---
 models/tiltrotor/model.sdf | 19 ++++++++-----------
 1 file changed, 8 insertions(+), 11 deletions(-)

diff --git a/models/tiltrotor/model.sdf b/models/tiltrotor/model.sdf
index e7d7047..b8b2ebd 100644
--- a/models/tiltrotor/model.sdf
+++ b/models/tiltrotor/model.sdf
@@ -674,9 +674,8 @@
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <!-- -30/+30 deg. -->
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
+          <lower>-0.78</lower>
+          <upper>0.78</upper>
         </limit>
         <dynamics>
           <damping>1.000</damping>
@@ -695,9 +694,8 @@
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <!-- -30/+30 deg. -->
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
+          <lower>-0.78</lower>
+          <upper>0.78</upper>
         </limit>
         <dynamics>
           <damping>1.000</damping>
@@ -716,9 +714,8 @@
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <!-- -30/+30 deg. -->
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
+          <lower>-0.78</lower>
+          <upper>0.78</upper>
         </limit>
         <dynamics>
           <damping>1.000</damping>
@@ -870,7 +867,7 @@
       filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
       <joint_name>motor_0_joint</joint_name>
       <sub_topic>servo_3</sub_topic>
-      <p_gain>10</p_gain>
+      <p_gain>100</p_gain>
       <i_gain>0</i_gain>
       <d_gain>0</d_gain>
       <i_max>0.0</i_max>
@@ -915,7 +912,7 @@
       filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
       <joint_name>motor_2_joint</joint_name>
       <sub_topic>servo_4</sub_topic>
-      <p_gain>10</p_gain>
+      <p_gain>100</p_gain>
       <i_gain>0</i_gain>
       <d_gain>0</d_gain>
       <i_max>0.0</i_max>