From eae99afb143765c498ada0b067c08b455047e10d Mon Sep 17 00:00:00 2001
From: David Wehr <dawehr@iastate.edu>
Date: Tue, 14 Mar 2017 20:12:20 -0500
Subject: [PATCH] Changed default to have no filter on X and Y position
 derivative.

---
 quad/sw/modular_quad_pid/src/PID.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/quad/sw/modular_quad_pid/src/PID.h b/quad/sw/modular_quad_pid/src/PID.h
index db0251195..4c5e4b81f 100644
--- a/quad/sw/modular_quad_pid/src/PID.h
+++ b/quad/sw/modular_quad_pid/src/PID.h
@@ -49,7 +49,7 @@
 #define YPOS_KP 0.015f
 #define YPOS_KI 0.005f
 #define YPOS_KD 0.03f
-#define YPOS_ALPHA 0.8923855
+#define YPOS_ALPHA 0
 
 
 //Pitch constants
@@ -75,7 +75,7 @@
 #define XPOS_KP -0.015f
 #define XPOS_KI -0.005f
 #define XPOS_KD -0.03f
-#define XPOS_ALPHA 0.8923855
+#define XPOS_ALPHA 0
 
 
 //Throttle constants
-- 
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