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loosened filtering, andjusted PIDs and fixed roundtrip computation

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Pawel Spychalski (DzikuVx) 2017-01-23 18:44:01 +01:00
parent 0ed67a752b
commit f3aea108bd
3 changed files with 9 additions and 9 deletions
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10
js/serial_queue.js
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@ -8,11 +8,11 @@ helper.mspQueue = (function (serial, MSP) {
privateScope = {};
privateScope.handlerFrequency = 100;
privateScope.balancerFrequency = 10;
privateScope.balancerFrequency = 20;
privateScope.loadFilter = new classes.SimpleSmoothFilter(0.5, 0.995);
privateScope.roundtripFilter = new classes.SimpleSmoothFilter(20, 0.97);
privateScope.hardwareRoundtripFilter = new classes.SimpleSmoothFilter(5, 0.97);
privateScope.loadFilter = new classes.SimpleSmoothFilter(1, 0.9);
privateScope.roundtripFilter = new classes.SimpleSmoothFilter(20, 0.99);
privateScope.hardwareRoundtripFilter = new classes.SimpleSmoothFilter(10, 0.99);
/**
* Target load for MSP queue. When load is above target, throttling might start to appear
@ -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(16, 6, 4);
privateScope.loadPidController.setGains(10, 4, 1);
privateScope.loadPidController.setItermLimit(0, 90);
privateScope.dropRatio = 0;