pbio/platform/motors: Improve medium motor model.
@@ -111,15 +111,15 @@ static const pbio_control_settings_t settings_servo_technic_s_angular = {
};
static const pbio_observer_settings_t settings_observer_technic_m_angular = {
- .phi_01 = SCALE(0.00471127825986593f, PBIO_OBSERVER_SCALE_HIGH),
- .phi_11 = SCALE(0.886778220155195f, PBIO_OBSERVER_SCALE_LOW),
- .gam_0 = SCALE(1.98652315497896f, PBIO_OBSERVER_SCALE_LOW),
- .gam_1 = SCALE(779.011955265974f, PBIO_OBSERVER_SCALE_LOW),
+ .phi_01 = SCALE(0.00465623814072756f, PBIO_OBSERVER_SCALE_HIGH),
+ .phi_11 = SCALE(0.865721137934373f, PBIO_OBSERVER_SCALE_LOW),
+ .gam_0 = SCALE(2.36522158991640f, PBIO_OBSERVER_SCALE_LOW),
+ .gam_1 = SCALE(923.893256509643f, PBIO_OBSERVER_SCALE_LOW),
.k_0 = SCALE(0.02258435646747968f, PBIO_OBSERVER_SCALE_HIGH),
- .k_1 = SCALE(0.000267785410941794f, PBIO_OBSERVER_SCALE_HIGH),
+ .k_1 = SCALE(0.000223154509118161f, PBIO_OBSERVER_SCALE_HIGH),
.k_2 = SCALE(0.00643543836108826f, PBIO_OBSERVER_SCALE_HIGH),
.f_low = SCALE(0.01218641268292683f, PBIO_OBSERVER_SCALE_TRQ),
- .obs_gain = SCALE(0.001f, PBIO_OBSERVER_SCALE_TRQ),
+ .obs_gain = SCALE(0.0008f, PBIO_OBSERVER_SCALE_TRQ),
};
static const pbio_control_settings_t settings_servo_technic_m_angular = {
