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tune inner loop before outer loop

master
qadmus 2020-07-15 00:50:00 -07:00
parent 91303636a2
commit 0c313f200a
1 changed files with 5 additions and 5 deletions
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10
Tuning.md

@ -34,16 +34,16 @@
* Too high: sloppy, cannot reach desired steer angle
* Too low: noisy actuation, responds to every bump
* Just right: just above noisy actuation
* lateralTuning.indi.outerLoopGain
* Steer error gain
* Too high: twitchy hyper lane centering
* Too low: sloppy, all over lane
* Just right: crisp lane centering
* lateralTuning.indi.innerLoopGain
* Steer rate error gain
* Too high: jerky oscillation in high curvature
* Too low: sloppy, cannot accomplish desired steer angle
* Just right: brief oscillation on entering high curvature
* lateralTuning.indi.outerLoopGain
* Steer error gain
* Too high: twitchy hyper lane centering
* Too low: sloppy, all over lane
* Just right: crisp lane centering
# Longitudinal Tuning
[Skip to tuning](#Tuning-the-longitudinal-PI-controller)