Loaded new mass and inertial characteristics into sim, ported sim arch into arduino code

2026-02-26 12:45:27 -06:00
parent 725f227943
commit 010d997eef
16 changed files with 450 additions and 473 deletions
--- a/Testing/pid_best_params.json
+++ b/Testing/pid_best_params.json
@@ -1,11 +1,11 @@
 {
-  "height_kp": 80.05607483893696,
-  "height_ki": 0,
-  "height_kd": 7.09266287860531,
-  "roll_kp": -0.600856607986966,
-  "roll_ki": 0,
+  "height_kp": 100.962395560374814,
+  "height_ki": 0.0,
+  "height_kd": 8.1738092637166575,
+  "roll_kp": 0.600856607986966,
+  "roll_ki": 0.0,
  "roll_kd": -0.1,
-  "pitch_kp": 50.3415835489009009,
-  "pitch_ki": 0.02319184022898008,
-  "pitch_kd": 0.017632648760979346
+  "pitch_kp": 50.0114708799258271,
+  "pitch_ki": 0,
+  "pitch_kd": 1.8990306608320433
 }