From b492947459914bdff76c30837821244cbe4b61ae Mon Sep 17 00:00:00 2001
From: Stefano Colli <45536733+StefanoColli@users.noreply.github.com>
Date: Tue, 19 Nov 2024 10:05:44 +0100
Subject: [PATCH] GZ RC Cessna: Improve rate tuning (#23758)

---
 .../init.d-posix/airframes/4003_gz_rc_cessna  | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
index d7ea1f3b37a4..04fc1acfd897 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
@@ -24,33 +24,33 @@ param set-default FW_LND_ANG 8
 param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
+param set-default FW_PR_FF 0.2
 param set-default FW_PR_I 0.5
 param set-default TRIM_PITCH -0.15
 
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-
 param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
+param set-default FW_RR_P 0.4
+param set-default FW_RR_I 0.7
 
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
+param set-default FW_R_RMAX 56.15
 
-param set-default FW_SPOILERS_LND 0.4
+param set-default FW_YR_FF 0.3
+param set-default FW_YR_P 1.3
+param set-default FW_YR_I 0.7
 
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
+param set-default FW_PSP_OFF 0
+param set-default FW_P_LIM_MIN -15
 
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_T_CLMB_MAX 5
+param set-default FW_T_SINK_MAX 3.5
+param set-default FW_T_SINK_MIN 3
 
 param set-default FW_W_EN 1
 
+param set-default FD_ESCS_EN 0
+
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15