From 678edfd2d1d97d7175c2dcb3b05dadc2f9ad654b Mon Sep 17 00:00:00 2001
From: topquark12 <aw@m-labs.hk>
Date: Sat, 12 Feb 2022 18:42:31 +0800
Subject: [PATCH] patch autotune, firmware tested and works on hardware

---
 pytec/autotune.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pytec/autotune.py b/pytec/autotune.py
index 66bb351..b9f5f3e 100644
--- 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):