Add support for multiple cycles of delay for U
Falcons are best modeled as having even more delay. Sigh
Change-Id: Ia108f8cbd81572245c91e6727b0c7e46b6c15843
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/control_loops/python/catapult_lib.py b/y2022/control_loops/python/catapult_lib.py
index d6040d1..4a88b14 100644
--- a/y2022/control_loops/python/catapult_lib.py
+++ b/y2022/control_loops/python/catapult_lib.py
@@ -15,9 +15,9 @@
class Catapult(angular_system.AngularSystem):
def __init__(self, params, name="Catapult"):
super(Catapult, self).__init__(params, name)
- # Signal that we have a single cycle output delay to compensate for in
+ # Signal that we have a 2 cycle output delay to compensate for in
# our observer.
- self.delayed_u = True
+ self.delayed_u = 2
self.InitializeState()
@@ -25,9 +25,9 @@
class IntegralCatapult(angular_system.IntegralAngularSystem):
def __init__(self, params, name="IntegralCatapult"):
super(IntegralCatapult, self).__init__(params, name=name)
- # Signal that we have a single cycle output delay to compensate for in
+ # Signal that we have a 2 cycle output delay to compensate for in
# our observer.
- self.delayed_u = True
+ self.delayed_u = 2
self.InitializeState()