Commit 0f49931a authored by maruggv's avatar maruggv
Browse files

VM: did some changes for readability

parent db7970ff
...@@ -320,10 +320,12 @@ std::vector<float> gainMatrixPitchAngle (9,0.0); ...@@ -320,10 +320,12 @@ std::vector<float> gainMatrixPitchAngle (9,0.0);
// Integrator parameters // Integrator parameters
std::vector<float> gainIntegrator (3,0.0); // in case we want to go back to old integrator concept, else TODO: delete
std::vector<float> gainIntegratorRate (3,0.0); std::vector<float> gainIntegratorRate (3,0.0);
std::vector<float> gainIntegratorAngle (3,0.0); std::vector<float> gainIntegratorAngle (3,0.0);
// Feedforward gain (velocity -> angle)
std::vector<float> gainFeedforwardAnglefromVelocity (3,0.0);
// The 16-bit command limits // The 16-bit command limits
float cmd_sixteenbit_min; float cmd_sixteenbit_min;
......
...@@ -82,7 +82,6 @@ PMKF_Kinf_for_angles : [ 0.3046,11.0342] ...@@ -82,7 +82,6 @@ PMKF_Kinf_for_angles : [ 0.3046,11.0342]
#PMKF_Kinf_for_angles : [ 0.3277,12.9648] #PMKF_Kinf_for_angles : [ 0.3277,12.9648]
# for our integrator (so far just random values) # for our integrator (so far just random values)
gainIntegrator : [ 0.50, 0.50, 0.50] # [x,y,z] (in case we want to go back to old integrator concept, else TODO: delete)
gainIntegratorRate : [-5.00, 5.00, 5.00] # [roll, pitch, z] gainIntegratorRate : [-5.00, 5.00, 5.00] # [roll, pitch, z]
gainIntegratorAngle : [-0.20, 0.20, 0.20] # [roll, pitch, z] gainIntegratorAngle : [-0.20, 0.20, 0.20] # [roll, pitch, z]
...@@ -104,7 +103,11 @@ gainMatrixRollAngle : [ 0.00,-0.31, 0.00, 0.00,-0.25, 0.00] ...@@ -104,7 +103,11 @@ gainMatrixRollAngle : [ 0.00,-0.31, 0.00, 0.00,-0.25, 0.00]
gainMatrixPitchAngle : [ 0.31, 0.00, 0.00, 0.25, 0.00, 0.00] gainMatrixPitchAngle : [ 0.31, 0.00, 0.00, 0.25, 0.00, 0.00]
#LQR: get Rates from Angle error # LQR: get Rates from Angle error
gainMatrixRollRatefromAngle : [ 4.00, 0.00, 0.00] gainMatrixRollRatefromAngle : [ 4.00, 0.00, 0.00]
gainMatrixPitchRatefromAngle : [ 0.00, 4.00, 0.00] gainMatrixPitchRatefromAngle : [ 0.00, 4.00, 0.00]
gainMatrixYawRatefromAngle : [ 0.00, 0.00, 2.30] gainMatrixYawRatefromAngle : [ 0.00, 0.00, 2.30]
# LQR: get baseline Angle from Velocity for feedforward (roll, pitch)
gainFeedforwardAnglefromVelocity: [-(20.0 * DEG2RAD), (20.0 * DEG2RAD)]
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