From 9c025843e8eab983134c2c74e33ebdadd09a8b2f Mon Sep 17 00:00:00 2001
From: Davide Basso <davide.basso@skywarder.eu>
Date: Wed, 14 May 2025 16:35:38 +0200
Subject: [PATCH] [Parafoil] Update wing config

---
 src/Parafoil/Configs/WingConfig.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/Parafoil/Configs/WingConfig.h b/src/Parafoil/Configs/WingConfig.h
index a73ecb968..17e5c1346 100644
--- a/src/Parafoil/Configs/WingConfig.h
+++ b/src/Parafoil/Configs/WingConfig.h
@@ -65,8 +65,8 @@ enum class AlgorithmId : size_t
 namespace Default
 {
 #if defined(JESOLO)
-constexpr auto TARGET_LAT = 45.565264f;
-constexpr auto TARGET_LON = 12.577050f;
+constexpr auto TARGET_LAT = 45.565652923793806f;
+constexpr auto TARGET_LON = 12.57763990872353f;
 #else  // Milan
 constexpr auto TARGET_LAT = 45.5013853;
 constexpr auto TARGET_LON = 9.1544219;
@@ -120,8 +120,8 @@ constexpr auto LONGITUDE_OFFSET = 0_m;
 
 namespace PI
 {
-constexpr auto SATURATION_MIN_LIMIT = -Boardcore::Constants::PI;
-constexpr auto SATURATION_MAX_LIMIT = Boardcore::Constants::PI;
+constexpr auto SATURATION_MIN_LIMIT = -Boardcore::Constants::PI * 0.65;
+constexpr auto SATURATION_MAX_LIMIT = Boardcore::Constants::PI * 0.65;
 
 constexpr auto KP = 0.9f;
 constexpr auto KI = 0.05f;
@@ -168,7 +168,7 @@ constexpr auto ENABLED = false;
 constexpr auto ENABLED = true;
 #endif
 
-constexpr auto ALTITUDE    = 15_m;
+constexpr auto ALTITUDE    = 10_m;
 constexpr auto CONFIDENCE  = 10;  // [samples]
 constexpr auto UPDATE_RATE = 10_hz;
 constexpr auto DURATION    = 5_s;
-- 
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