Config changes

main/ugv.cc

@@ -46,15 +46,15 @@ config::Config UGV::DefaultConfig() {
   config::Config c;
 
   auto *apid = c.mutable_angle_pid();
-  apid->set_kp(0.10);
+  apid->set_kp(0.06);
-  apid->set_ki(0.0);
+  apid->set_ki(0.01);
   apid->set_kd(0.4);
-  apid->set_max_output(0.5);
+  apid->set_max_output(0.6);
   apid->set_max_i_error(15.0);
 
-  c.set_min_target_dist(10.0);
+  c.set_min_target_dist(1.0);
   c.set_min_flip_pitch(90.0);
-  c.set_drive_power(0.3);
+  c.set_drive_power(0.4);
   c.set_mag_declination(11.5);
   return c;
 }

tools/config.yml

@@ -1,12 +1,12 @@
 REVISION: 1
 angle_pid:
-  kp: 0.04
+  kp: 0.06
-  ki: 0.0001
+  ki: 0.01
-  kd: 0.2
+  kd: 0.4
-  max_output: 0.5
+  max_output: 0.6
   max_i_error: 15.0
 
 min_target_dist: 1.0
 min_flip_pitch: 90.0
-drive_power: 0.3
+drive_power: 0.4
 mag_declination: 11.5