[wpimath] Link to docs on LQR and KF tolerances (#5486)

Fixes #4151.
2026-06-28 02:11:43 +00:00 · 2023-07-31 19:17:44 -07:00
parent d814f1d123
commit a01b6467d3
12 changed files with 76 additions and 0 deletions
--- a/wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h
+++ b/wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h
@@ -44,6 +44,10 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
  /**
   * Constructs a linear time-varying unicycle controller.
   *
+   * See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * for how to select the tolerances.
+   *
   * @param Qelems The maximum desired error tolerance for each state.
   * @param Relems The maximum desired control effort for each input.
   * @param dt     Discretization timestep.