amikhalev/uas-ugv
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This commit is contained in:
Alex Mikhalev 2019-06-01 17:17:41 -07:00
parent f03c839acf
commit 2193e397cf
2 changed files with 10 additions and 10 deletions
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10
main/ugv.cc
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@ -46,15 +46,15 @@ config::Config UGV::DefaultConfig() {
config::Config c;
auto *apid = c.mutable_angle_pid();
apid->set_kp(0.10);
apid->set_ki(0.0);
apid->set_kp(0.06);
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;
}

10
tools/config.yml
View File

@ -1,12 +1,12 @@
REVISION: 1
angle_pid:
kp: 0.04
ki: 0.0001
kd: 0.2
max_output: 0.5
kp: 0.06
ki: 0.01
kd: 0.4
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