- update template

- simplified pid - pant cycle time 30 s git-svn-id: http://moon:8086/svn/projects/HendiControl@272 fda53097-d464-4ada-af97-ba876c37ca34
2019-04-26 16:09:07 +00:00
parent dd3c63bebf
commit b7df7197ed
3 changed files with 14 additions and 32 deletions
@@ -12,24 +12,24 @@
 		"kalman" 			: {
 			"dt"				: 1.0,
 			"var_P"				: 0,
-			"var_Q"				: 0.0001,
+			"var_Q"				: 0.00001,
 			"var_R"				: 1,
 			"var_Z"				: 0.0
 		},
 		"Hold" : {
 				"Pid" : {
-					"kp"	: 0.0002,
-					"ki"	: 0.0000004,
+					"kp"	: 0.1,
+					"ki"	: 0.001,
 					"kd"	: 0.0,
 					"rho"	: 1.0
 				}
 		},
 		"Heat" : {
 				"Pid" : {
-					"kp"	: 0.0006,
-					"ki"	: 0.0,
+					"kp"	: 0.001,
+					"ki"	: 0.0004,
 					"kd"	: 0.0,
-					"rho"	: 0.0
+					"rho"	: 1.0
 				}
 		}
 	},