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[sysid] Fix wrong position Kd with unnormalized time (#6433)

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This commit is contained in:
Dean Brettle
2024-03-12 21:49:28 -07:00
committed by GitHub
parent 0e013dc021
commit 1fc6a9d78d
2 changed files with 17 additions and 3 deletions
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7
sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp
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@@ -42,9 +42,10 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
controller.LatencyCompensate(system, preset.period,
preset.measurementDelay);
return {controller.K(0, 0) * preset.outputConversionFactor,
controller.K(0, 1) * preset.outputConversionFactor /
(preset.normalized ? 1 : preset.period.value())};
return {
controller.K(0, 0) * preset.outputConversionFactor,
controller.K(0, 1) * preset.outputConversionFactor /
(preset.normalized ? 1 : units::second_t{preset.period}.value())};
}
// This is our special model to avoid instabilities in the LQR.

13
sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
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@@ -130,3 +130,16 @@ TEST(FeedbackAnalysisTest, PositionWithLatencyCompensation) {
EXPECT_NEAR(Kp, 5.92, 0.05);
EXPECT_NEAR(Kd, 2.12, 0.05);
}
TEST(FeedbackAnalysisTest, PositionREV) {
auto Kv = 3.060;
auto Ka = 0.327;
sysid::LQRParameters params{1, 1.5, 7};
auto [Kp, Kd] = sysid::CalculatePositionFeedbackGains(
sysid::presets::kREVNEOBuiltIn, params, Kv, Ka);
EXPECT_NEAR(Kp, 0.30202, 0.05);
EXPECT_NEAR(Kd, 48.518, 0.05);
}