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Tools: balancebot test does not set ATC_BAL_SPD_FF 

also update autotest balance bot tuning
This commit is contained in:
Randy Mackay 2022-11-09 20:02:48 +09:00
parent 058d6d4828
commit 391bae858b
2 changed files with 3 additions and 5 deletions
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1
Tools/autotest/balancebot.py
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@ -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()

7
Tools/autotest/default_params/balancebot.parm
View File

@ -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