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/temp.json
+++ b/Testing/temp.json
@@ -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": 80.05607483893696,
+  "height_ki": 0,
+  "height_kd": 7.09266287860531,
+  "roll_kp": -0.600856607986966,
+  "roll_ki": 0,
+  "roll_kd": -0.1,
+  "pitch_kp": 50.3415835489009009,
+  "pitch_ki": 0.02319184022898008,
+  "pitch_kd": 0.017632648760979346
 }