dynamics identified
designing controller...
controller designed, writing to file out.txt
{
"MC_PITCHRATE_D": 0.007986111763821054,
"MC_PITCHRATE_I": 1.4199280160960568,
"MC_PITCHRATE_P": 0.3010445756612024,
"MC_PITCH_P": 5.474760010163753,
"MC_ROLLRATE_D": 0.008747392635960064,
"MC_ROLLRATE_I": 1.1962720090900754,
"MC_ROLLRATE_P": 0.29499919522081797,
"MC_ROLL_P": 5.361772007628582,
"MC_YAWRATE_D": 0.011026584612036192,
"MC_YAWRATE_I": 1.9736695282813295,
"MC_YAWRATE_P": 0.4805348843295458,
"MC_YAW_P": 5.317066206669442,
"pitch": {
"model": {
"delay": 0.05778450098871699,
"f_s": 224.9738213113302,
"fit": 0.6820218656710324,
"gain": 108.63532791159108,
"sample_delay": 13
},
"t_end": 110,
"t_start": 105
},
"roll": {
"model": {
"delay": 0.06667442421775038,
"f_s": 224.9738213113302,
"fit": 0.7482813628055249,
"gain": 100.80854701682381,
"sample_delay": 15
},
"t_end": 110,
"t_start": 105
},
"yaw": {
"model": {
"delay": 0.04889457775968361,
"f_s": 224.9738213113302,
"fit": 0.43330939920399325,
"gain": 72.43734245165282,
"sample_delay": 11
},
"t_end": 110,
"t_start": 105
}
}