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Updated balancing PID tuning

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Pawel Spychalski (DzikuVx) 2017-03-11 13:39:15 +01:00
parent 46ac4bd3c4
commit 26c9dd44a0
2 changed files with 10 additions and 10 deletions
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10
js/serial_queue.js
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@ -10,15 +10,15 @@ helper.mspQueue = (function (serial, MSP) {
privateScope.handlerFrequency = 100;
privateScope.balancerFrequency = 20;
privateScope.loadFilter = new classes.SimpleSmoothFilter(1, 0.9);
privateScope.roundtripFilter = new classes.SimpleSmoothFilter(20, 0.99);
privateScope.hardwareRoundtripFilter = new classes.SimpleSmoothFilter(10, 0.99);
privateScope.loadFilter = new classes.SimpleSmoothFilter(1, 0.85);
privateScope.roundtripFilter = new classes.SimpleSmoothFilter(20, 0.95);
privateScope.hardwareRoundtripFilter = new classes.SimpleSmoothFilter(10, 0.95);
/**
* Target load for MSP queue. When load is above target, throttling might start to appear
* @type {number}
*/
privateScope.targetLoad = 1.5;
privateScope.targetLoad = 2;
privateScope.statusDropFactor = 0.75;
privateScope.currentLoad = 0;
@ -30,7 +30,7 @@ helper.mspQueue = (function (serial, MSP) {
privateScope.loadPidController = new classes.PidController();
privateScope.loadPidController.setTarget(privateScope.targetLoad);
privateScope.loadPidController.setOutput(0, 99, 0);
privateScope.loadPidController.setGains(10, 4, 1);
privateScope.loadPidController.setGains(5, 6, 3);
privateScope.loadPidController.setItermLimit(0, 90);
privateScope.dropRatio = 0;