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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_3000.json
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@@ -1,11 +1,11 @@
{
"height_kp": 7.886377342450826,
"height_ki": 0.5011631292801424,
"height_kd": 6.281854346104332,
"roll_kp": 0.5834114273785317,
"roll_ki": 4.958217971237515,
"roll_kd": 0.020111264395006163,
"pitch_kp": 1.7442062254360877,
"pitch_ki": 0.03376218829632256,
"pitch_kd": 2.7713413800138587
"height_kp": 6.79952358593656,
"height_ki": 2.7199339229214856,
"height_kd": 12.166576111298163,
"roll_kp": 1.7073146141313746,
"roll_ki": 0.026221209129363342,
"roll_kd": 0.018353603438859525,
"pitch_kp": 1.2333241666054757,
"pitch_ki": 0.03544610305322942,
"pitch_kd": 0.3711162924888727
}