patch autotune, firmware tested and works on hardware

2022-02-12 18:42:31 +08:00 · 2022-02-12 18:42:31 +08:00 · 678edfd2d1
parent b2a58a6703
commit 678edfd2d1
1 changed files with 2 additions and 2 deletions
--- a/pytec/autotune.py
+++ b/pytec/autotune.py
@ -77,8 +77,8 @@ class PIDAutotune:
        """
        divisors = self._tuning_rules[tuning_rule]
        kp = self._Ku * divisors[0]
-        ki = divisors[1] * self._Ku / self._Pu
-        kd = divisors[2] * self._Ku * self._Pu
+        ki = divisors[1] * self._Ku / self._Pu / 0.12
+        kd = divisors[2] * self._Ku * self._Pu * 0.12
        return PIDAutotune.PIDParams(kp, ki, kd)

    def run(self, input_val, time_input):