From ae889b319bf89d783f25c4724e74390ffbfbda69 Mon Sep 17 00:00:00 2001 From: Tammo Jan Dijkema Date: Mon, 23 Dec 2019 19:55:15 +0100 Subject: [PATCH] Fix offsets in elevation Offsets jumped in right elevation by 32 degrees. Manually cranked elevation to 0, then right and left jumped by another 32 degrees. This commit increased the offset by 4096 turns * 2pi radians per turn. --- controller/dt_ctrl.param | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/controller/dt_ctrl.param b/controller/dt_ctrl.param index 2db2774..0a6b929 100644 --- a/controller/dt_ctrl.param +++ b/controller/dt_ctrl.param @@ -1,7 +1,7 @@ params { { "azimuth_position_offset", "value", (float)-1.4480417 } - { "elevation_position_offset_r", "value", (float)40680.0833715 } - { "elevation_position_offset_l", "value", (float)10783.776612094 } + { "elevation_position_offset_r", "value", (float)-10791.770665 } + { "elevation_position_offset_l", "value", (float)36519.7036303 } # limit controller for elevation { "elevation_pid", "kp", (float)1 } { "elevation_pid", "ki", (float)0 } -- GitLab