dual_iir_configuration: fix pid parameter scaling
@@ -188,7 +188,7 @@ def calculate_pid_coefficients(sampling_period, args):
[1, -2, 1]
]
- digital_conversion = (2 * pi) / sampling_period
+ digital_conversion = 2 * pi * sampling_period
FEEDFORWARD_COEFFICIENTS = [
[args.Kp, args.Kd / digital_conversion, args.Kdd / (digital_conversion ** 2)],
