firmware: use pid from new simulation

really big oscillations, somewhat stable
2024-01-12 19:41:34 +01:00 · 2024-01-12 19:41:34 +01:00 · 0ab95f393e
parent 1266d68b07
commit 0ab95f393e
1 changed files with 5 additions and 4 deletions
--- a/firmware-arduino/selfbalance-madgwick/selfbalance-madgwick.ino
+++ b/firmware-arduino/selfbalance-madgwick/selfbalance-madgwick.ino
@ -18,10 +18,11 @@ Ki = KpTc/ti
 Kd = KpTd/Tc
 */ 

-
-constexpr double KP = 5.8;
-constexpr double KI = 0.2;
-constexpr double KD = 0.1;
+constexpr double kponkd = 935.9697;
+constexpr double kionkd = 1.3189e+04;
+constexpr double KD = 0.002;
+constexpr double KP = KD*kponkd;
+constexpr double KI = KD*kionkd;

 //double setpoint = -0.015;
 double setpoint = 0.0;