From 35e90f3149ae59b9610b246be0e99657e33af6f6 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 9 Nov 2022 20:02:48 +0900 Subject: [PATCH] Tools: balancebot test does not set ATC_BAL_SPD_FF also update autotest balance bot tuning --- Tools/autotest/balancebot.py | 1 - Tools/autotest/default_params/balancebot.parm | 7 +++---- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/Tools/autotest/balancebot.py b/Tools/autotest/balancebot.py index 39044df780..efeb487510 100644 --- a/Tools/autotest/balancebot.py +++ b/Tools/autotest/balancebot.py @@ -60,7 +60,6 @@ class AutoTestBalanceBot(AutoTestRover): '''make sure wheel encoders are generally working''' ex = None try: - self.set_parameter("ATC_BAL_SPD_FF", 0) self.set_parameter("WENC_TYPE", 10) self.set_parameter("AHRS_EKF_TYPE", 10) self.reboot_sitl() diff --git a/Tools/autotest/default_params/balancebot.parm b/Tools/autotest/default_params/balancebot.parm index c097bed73a..f5b00eeda1 100644 --- a/Tools/autotest/default_params/balancebot.parm +++ b/Tools/autotest/default_params/balancebot.parm @@ -1,7 +1,6 @@ -ATC_BAL_P 18.0 -ATC_BAL_I 80.0 -ATC_BAL_D 0.005 -ATC_BAL_SPD_FF 0.000000 +ATC_BAL_P 3.5 +ATC_BAL_I 5.0 +ATC_BAL_D 0.06 ATC_SPEED_P 0.9 ATC_SPEED_I 0.5 AHRS_EKF_TYPE 10