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[sysid] Fix position feedback latency compensation (#6392)

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This commit is contained in:
Dean Brettle
2024-02-23 14:13:43 -08:00
committed by GitHub
parent ca6e307ea5
commit 8b669330eb
2 changed files with 30 additions and 2 deletions
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5
sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp
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@@ -32,7 +32,8 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
frc::LinearQuadraticRegulator<2, 1> controller{
system, {params.qp, params.qv}, {params.r}, preset.period};
// Compensate for any latency from sensor measurements, filtering, etc.
controller.LatencyCompensate(system, preset.period, 0.0_s);
controller.LatencyCompensate(system, preset.period,
preset.measurementDelay);
return {controller.K(0, 0) * preset.outputConversionFactor,
controller.K(0, 1) * preset.outputConversionFactor /
@@ -47,7 +48,7 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
frc::LinearQuadraticRegulator<1, 1> controller{
system, {params.qp}, {params.r}, preset.period};
// Compensate for any latency from sensor measurements, filtering, etc.
controller.LatencyCompensate(system, preset.period, 0.0_s);
controller.LatencyCompensate(system, preset.period, preset.measurementDelay);
return {Kv * controller.K(0, 0) * preset.outputConversionFactor, 0.0};
}

27
sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
View File

@@ -103,3 +103,30 @@ TEST(FeedbackAnalysisTest, VelocityREVConversion) {
EXPECT_NEAR(Kp, 0.00241 / 3, 0.005);
EXPECT_NEAR(Kd, 0.00, 0.05);
}
TEST(FeedbackAnalysisTest, Position) {
auto Kv = 3.060;
auto Ka = 0.327;
sysid::LQRParameters params{1, 1.5, 7};
auto [Kp, Kd] = sysid::CalculatePositionFeedbackGains(
sysid::presets::kDefault, params, Kv, Ka);
EXPECT_NEAR(Kp, 6.41, 0.05);
EXPECT_NEAR(Kd, 2.48, 0.05);
}
TEST(FeedbackAnalysisTest, PositionWithLatencyCompensation) {
auto Kv = 3.060;
auto Ka = 0.327;
sysid::LQRParameters params{1, 1.5, 7};
sysid::FeedbackControllerPreset preset{sysid::presets::kDefault};
preset.measurementDelay = 10_ms;
auto [Kp, Kd] = sysid::CalculatePositionFeedbackGains(preset, params, Kv, Ka);
EXPECT_NEAR(Kp, 5.92, 0.05);
EXPECT_NEAR(Kd, 2.12, 0.05);
}