commit c27f2c9d8f3890553a2b8a5fd6b16acb1b441a68
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Apr 05 17:33:55 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Apr 05 18:02:06 2024 -0700
tree 58c16945a9c5a8c7dfeefae454662bcece86021d
parent 9f5da5ade1d53848c15cb54d3c64ae9dc5e6f8a3

Tune and zero altitude/turret

Change-Id: I45d1756f9717c2b48e3bcb859379c6c943d6be69
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@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 a06bda7..0864301 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=1.2,
-    q_pos=0.60,
+    q_pos=0.40,
     q_vel=8.0,
     kalman_q_pos=0.12,
     kalman_q_vel=2.0,
-    kalman_q_voltage=2.0,
+    kalman_q_voltage=3.0,
     kalman_r_position=0.05,
     radius=10.5 * 0.0254,
     dt=0.005)