| commit | 989a313d68bf94fe66146163c069d040fbd95990 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Thu Feb 20 18:20:06 2020 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Thu Feb 20 20:08:48 2020 -0800 |
| tree | db5ae8f29248da4d1f16a40c0ab8f832c99dd99d | |
| parent | c1c957aca2bdb353493a35001819b5dd87df0db7 [diff] [blame] |
Initial tuning of the control loops. These were tuned by looking at the plots and looking at how aggressive the controller is. Change-Id: I68d7b396ccdcc79640bbffaea8102414720fe164
diff --git a/y2020/control_loops/python/flywheel.py b/y2020/control_loops/python/flywheel.py index 9a6fc46..0457985 100755 --- a/y2020/control_loops/python/flywheel.py +++ b/y2020/control_loops/python/flywheel.py
@@ -214,7 +214,7 @@ offset.append(observer_flywheel.X_hat[2, 0]) applied_U = U.copy() - if i > 30: + if i > 100: applied_U += 2 flywheel.Update(applied_U)