Final gain tuning

StanfordASL · Jan 18, 2025 · 1d39268 · 1d39268
1 parent 8a725ba
commit 1d39268
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/ff_control/scripts/opt_ctrl_py_node b/ff_control/scripts/opt_ctrl_py_node
@@ -67,7 +67,7 @@ class ThrusterOptControlNode(TrinaryThrusterController):
         self._state_desired = FreeFlyerStateStamped()
         self._params_ready = False
         self._deadband = np.array([0.01, 0.01, 0.05, 0.005, 0.005, 0.02])
-        self._readjust_controller_bounds = 0.1
+        self._readjust_controller_bounds = 0.15
         self._def_controller = True
         self._w0 = None
 
@@ -88,15 +88,15 @@ class ThrusterOptControlNode(TrinaryThrusterController):
         self.declare_parameter('def_opt_freq', 6.0)
         self.declare_parameter('def_opt_gain_kth', 1.0)
         self.declare_parameter('def_opt_gain_kpos', 3.5)
-        self.declare_parameter('def_opt_gain_kinput', 80.0)
+        self.declare_parameter('def_opt_gain_kinput', 150.0)
         self.declare_parameter('def_opt_gain_kvelo', 250.0)
-        self.declare_parameter('def_opt_gain_komega', 100.0)
+        self.declare_parameter('def_opt_gain_komega', 1.0)
 
         self.declare_parameter('close_opt_horizon_secs', 0.9)
         self.declare_parameter('close_opt_freq', 40.0)
         self.declare_parameter('close_opt_gain_kth', 1.25)
         self.declare_parameter('close_opt_gain_kpos', 35.0)
-        self.declare_parameter('close_opt_gain_kinput', 35.0)
+        self.declare_parameter('close_opt_gain_kinput', 45.0)
         self.declare_parameter('close_opt_gain_kvelo', 290.0)
         self.declare_parameter('close_opt_gain_komega', 1.0)