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[sysid] Clamp feedback measurement delay to zero or higher (#7319)

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LQR latency compensation applies exponential decay to the feedback
gains, so a negative latency causes them to exponentially grow.
This commit is contained in:
Tyler Veness
2024-10-31 20:37:15 -07:00
committed by GitHub
parent 75fc4d18ef
commit 21980c7447
1 changed files with 3 additions and 2 deletions
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5
sysid/src/main/native/cpp/view/Analyzer.cpp
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@@ -53,8 +53,9 @@ void Analyzer::UpdateFeedforwardGains() {
m_accelRMSE = feedforwardGains.olsResult.rmse;
m_settings.preset.measurementDelay =
m_settings.type == FeedbackControllerLoopType::kPosition
? m_manager->GetPositionDelay()
: m_manager->GetVelocityDelay();
// Clamp feedback measurement delay to ≥ 0
? units::math::max(0_s, m_manager->GetPositionDelay())
: units::math::max(0_s, m_manager->GetVelocityDelay());
PrepareGraphs();
} catch (const sysid::InvalidDataError& e) {
m_state = AnalyzerState::kGeneralDataError;