cs_4p now 1.0

aenarete · Oct 26, 2024 · 120259d · 120259d
1 parent 82f1e1e
commit 120259d
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/data/settings.yaml b/data/settings.yaml
@@ -31,6 +31,7 @@ steering:
     k_ds:     1.5          # influence of the depower angle on the steering sensitivity
     delta_st: 0.02         # steering increment (when pressing RIGHT)
     max_steering: 16.83    # max. steering angle of the side planes for four point model [degrees]
+    cs_4p: 1.0             # correction factor for the steering of the four point model
 
 depower:
     alpha_d_max:    31.0   # max depower angle                            [deg]

diff --git a/examples/parking_wind_dir.jl b/examples/parking_wind_dir.jl
@@ -33,9 +33,9 @@ ssc::SystemStateControl = SystemStateControl(wcs, fcs, fpps; u_d0, u_d, v_wind =
 dt::Float64 = wcs.dt
 
 # result of tuning
-fcs.p=4.3
-fcs.i=0.1
-fcs.d=13.25*1.9
+fcs.p=2.0
+fcs.i=0.05
+fcs.d=13.25*0.95
 MIN_DEPOWER       = 0.22
 fcs.use_chi = false
 @assert fcs.gain == 0.04