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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 3116f790ea
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.