Merge branch 'jeroen' of video.vreeken.net:public_html/dt_ctrl into jeroen

controller/dt_ctrl.ctrl

@@ -393,7 +393,7 @@ params {
 
 	{ "elevation_spg",         "setpoint",            (float) 0.0           }
 	{ "elevation_spg",         "max_x",               (float) deg2rad(90.0)   }
-	{ "elevation_spg",         "min_x",               (float) deg2rad(-0.05)  }
+	{ "elevation_spg",         "min_x",               (float) deg2rad(-0.055)  }
 	{ "elevation_spg",         "max_v",               (float) rpm2rads(2100.0)/$(elevation_gear) }
 	{ "elevation_spg",         "max_a",               (float) 0.0003   	}
 	{ "elevation_spg",         "max_j",               (float) 0.000016	}
@@ -417,13 +417,13 @@ params {
 	{ "elevation_speed_limit", "max",                 (float) rpm2rads(0.08)   }
 	{ "elevation_jerk_limit",  "min",                 (float)-0.003         }
 	{ "elevation_jerk_limit",  "max",                 (float) 0.003         }
-	{ "elevation_torsion_pid", "kp",                  (float) 0.2  		}
+	{ "elevation_torsion_pid", "kp",                  (float) 20.0 		}
 	{ "elevation_torsion_pid", "ki",                  (float) 0.0  		}
 	{ "elevation_torsion_pid", "kd",                  (float) 0.0 		}
 	{ "elevation_torsion_pid", "maxw",                (float) 0.0001 }
 	{ "elevation_torsion_pid", "minw",                (float)-0.0001 }
-	{ "elevation_torsion_speed_limit", "min",         (float) rpm2rads(-0.001) }
-	{ "elevation_torsion_speed_limit", "max",         (float) rpm2rads(0.001)  }
+	{ "elevation_torsion_speed_limit", "min",         (float) rpm2rads(-0.01) }
+	{ "elevation_torsion_speed_limit", "max",         (float) rpm2rads(0.01)  }
 
 
 	{ "elevation_torsion_range", "max", (float) 0.0002 }

controller/dt_ctrl.param

@@ -7,6 +7,6 @@ params {
 	{ "elevation_pid", "ki", (float)0 }
 	{ "elevation_pid", "kd", (float)0 }
 
-# limit spg to 1000rpm
+# limit spg to 2500rpm
 	{ "azimuth_spg", "max_v", (float) rpm2rads(2500.0)/$(azimuth_gear) }
 }