From 120259dcdd7d7b7698c08d306d6b5593b808cfbe Mon Sep 17 00:00:00 2001 From: Uwe Fechner Date: Sat, 26 Oct 2024 21:45:55 +0200 Subject: [PATCH] cs_4p now 1.0 --- data/settings.yaml | 1 + examples/parking_wind_dir.jl | 6 +++--- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/data/settings.yaml b/data/settings.yaml index 4e650cd3..27beb11e 100644 --- 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 index 3f5cd034..c042a0e9 100644 --- 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