Commit 8702c155 authored by Ian McInerney's avatar Ian McInerney

More aggressive LQR, possibly too aggressive

parent 298b6242
......@@ -40,10 +40,10 @@ const int stateControllerType = CONTROLLER_LQR;
#define USE_PSEUDO_NONLINEAR_CORRECTION
float K[4][12] = {
{ 0, 0, -2583.9, 0, 0, 0, 0, 0, -1000.0, 0, 0, 0},
{ 0, 5164.9, 0, 1690.6, 0, 0, 0, 10000.0, 0, 13089, 0, 0},
{-5172.9, 0, 0, 0, 1698.4, 0, -10000.0, 0, 0, 0, 13129, 0},
{ 0, 0, 0, 0, 0, 334.8, 0, 0, 0, 0, 0, 158.1}
{ 0.000, 0.000, -6362.910, 0.000, 0.000, 0.000, 0.000, 0.000, -5000.000, 0.000, 0.000, 0.000 },
{ 0.000, 5109.467, 0.000, 1636.731, 0.000, 0.000, 0.000, 10000.000, 0.000, 12809.304, 0.000, 0.000 },
{ -5117.338, 0.000, 0.000, 0.000, 1644.304, 0.000, -10000.000, 0.000, 0.000, 0.000, 12848.790, 0.000 },
{ 0.000, 0.000, 0.000, 0.000, 0.000, 1822.820, 0.000, 0.000, 0.000, 0.000, 0.000, 5000.000 }
};
// Array to store the calculated errors
......
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