From 50c6675d45995e250f2b62163d59d9ffd128db19 Mon Sep 17 00:00:00 2001 From: Jeremy Salwen Date: Mon, 23 Sep 2024 03:17:17 +0000 Subject: [PATCH] Increase maximum value of kd_lat to 25 5 is too small to damp to the large values of kp_lat that are commonly used. --- cfg/FTCPlanner.cfg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cfg/FTCPlanner.cfg b/cfg/FTCPlanner.cfg index 6c9528e..973c61c 100755 --- a/cfg/FTCPlanner.cfg +++ b/cfg/FTCPlanner.cfg @@ -20,7 +20,7 @@ grp_pid.add("kd_lon", double_t, 0, "KD for speed controller lon", 0.0, 0.0, 1.0) grp_pid.add("ki_lat", double_t, 0, "KI for speed controller lat", 0.0, 0.0, 5.0) grp_pid.add("ki_lat_max", double_t, 0, "KI windup for speed controller lat", 10.0, 0.0, 500.0) grp_pid.add("kp_lat", double_t, 0, "KP for speed controller lat", 1.0, 0.0, 250.0) -grp_pid.add("kd_lat", double_t, 0, "KD for speed controller lat", 0.0, 0.0, 5.0) +grp_pid.add("kd_lat", double_t, 0, "KD for speed controller lat", 0.0, 0.0, 25.0) grp_pid.add("kp_ang", double_t, 0, "KP for angle controller", 1.0, 0.0, 50.0) grp_pid.add("ki_ang", double_t, 0, "KI for angle controller", 0.0, 0.0, 5.0) grp_pid.add("ki_ang_max", double_t, 0, "KI windup for speed controller angle", 10.0, 0.0, 500.0)