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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_6000.json
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@@ -1,11 +1,11 @@
{
"height_kp": 6.387288593598476,
"height_ki": 3.8692474098125285,
"height_kd": 8.326592570264028,
"roll_kp": 2.5896160034319817,
"roll_ki": 0.26391970508131646,
"roll_kd": 0.10133339760273202,
"pitch_kp": 0.5612446354489615,
"pitch_ki": 0.014113041384510265,
"pitch_kd": 1.100684970603034
"height_kp": 5.962395560374814,
"height_ki": 0.5381137743695537,
"height_kd": 1.1738092637166575,
"roll_kp": 0.48249575996443006,
"roll_ki": 0.016923890033141546,
"roll_kd": 0.013609429509460135,
"pitch_kp": 0.10114708799258271,
"pitch_ki": 1.906050976563914,
"pitch_kd": 1.8990306608320433
}