commit 087613bf07e1a539475bc483fc84b4d6ac94f4cb
author Austin Schuh <austin.linux@gmail.com> Mon Feb 19 12:39:08 2024 -0800
committer Austin Schuh <austin.linux@gmail.com> Mon Feb 19 22:17:02 2024 -0800
tree 089bb86ef7bfb64f5d6c97e220b9a44507ad1c07
parent 2e282d1c54f0a2091988f0118d17151e662ee6e3

First pass at tuning 2024 subsystems

The Krakens make everything a bit more exciting.  Apply a first pass at
tuning everything.

Change-Id: I4a6541c3f052a3b38fc229f2625039ab72cf00fd
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2024/control_loops/python/altitude.py

diff --git a/y2024/control_loops/python/altitude.py b/y2024/control_loops/python/altitude.py
index 157c4a5..d302b79 100644
--- a/y2024/control_loops/python/altitude.py
+++ b/y2024/control_loops/python/altitude.py
@@ -25,11 +25,11 @@
     G=(16.0 / 60.0) * (16.0 / 162.0),
     # 4340 in^ lb
     J=1.27,
-    q_pos=0.40,
-    q_vel=3.0,
+    q_pos=0.60,
+    q_vel=8.0,
     kalman_q_pos=0.12,
     kalman_q_vel=2.0,
-    kalman_q_voltage=4.0,
+    kalman_q_voltage=2.0,
     kalman_r_position=0.05,
     radius=10.5 * 0.0254)