- new template params

git-svn-id: http://moon:8086/svn/projects/HendiControl@269 fda53097-d464-4ada-af97-ba876c37ca34
2019-04-25 21:05:00 +00:00
parent 107003f452
commit 651d8127b4
1 changed files with 9 additions and 9 deletions
@@ -2,7 +2,7 @@

 	"Controller" :
 	{
-		"dt"				: 3.0,
+		"dt"				: 1.0,
 		"P_min"				: 0,
 		"P_max"				: 3500,
 		"sim_warp_factor"	: 1000.0,
@@ -10,26 +10,26 @@
 		"plant_name"        : "Mass",
 		"useKalman"			: true,
 		"kalman" 			: {
-			"dt"				: 3.0,
+			"dt"				: 1.0,
 			"var_P"				: 0,
-			"var_Q"				: 0.000001,
+			"var_Q"				: 0.0001,
 			"var_R"				: 1,
 			"var_Z"				: 0.0
 		},
 		"Hold" : {
 				"Pid" : {
-					"kp"	: 0.1,
-					"ki"	: 0.00004,
+					"kp"	: 0.0002,
+					"ki"	: 0.0000004,
 					"kd"	: 0.0,
-					"rho"	: 0.9999
+					"rho"	: 1.0
 				}
 		},
 		"Heat" : {
 				"Pid" : {
-					"kp"	: 0.1,
-					"ki"	: 0.002,
+					"kp"	: 0.0006,
+					"ki"	: 0.0,
 					"kd"	: 0.0,
-					"rho"	: 0.9999
+					"rho"	: 0.0
 				}
 		}
 	},