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

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pulipakaa24
2026-02-26 12:45:27 -06:00
parent 725f227943
commit 010d997eef
16 changed files with 450 additions and 473 deletions
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18
RL Testing/pid_best_params_1500.json
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@@ -1,11 +1,11 @@
{
"height_kp": 112.05607483893696,
"height_ki": 1.3231206601751908,
"height_kd": 14.09266287860531,
"roll_kp": 3.600856607986966,
"roll_ki": 0.10314962498074487,
"roll_kd": 0.013792861414632316,
"pitch_kp": 0.1415835489009009,
"pitch_ki": 0.02319184022898008,
"pitch_kd": 0.017632648760979346
"height_kp": 61.34660453658844,
"height_ki": 5.337339965349835,
"height_kd": 12.13071554123404,
"roll_kp": 5.838881924776812,
"roll_ki": 0.11040111644948386,
"roll_kd": 0.0401383180893775,
"pitch_kp": 0.10114651080341679,
"pitch_ki": 0.06948994902747452,
"pitch_kd": 0.16948986671689478
}