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Updated Tuning (markdown)

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Stephen Schrauger 2020-11-25 14:46:25 -05:00
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Tuning.md

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### INDI tuning strategy
- Search Discord / Github for prior INDI tuning efforts for your vehicle
- Vary one parameter at a time, by less than 10%.
- Make it easy to notice improvements. Parameters effect each other.
- Make it easy to notice improvements. Parameters affect each other.
- Use a road you travel often and know well, with straights and curves, and excellent lane markings on both sides.
- Don't confuse tuning with poor planning from poor lane markings, or unexpected behavior from unknown roads.
- Start with moderate values for outer (error) and inner (rate error) loops, like the Prius's outer 3, inner 4.