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IMU heater tuning for type C exposed to open air #2

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IMU heater tuning for type C exposed to open air #2

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2 changes: 1 addition & 1 deletion modm
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Submodule modm updated from 03c6f7 to b9b255
10 changes: 5 additions & 5 deletions src/tap/communication/sensors/imu_heater/imu_heater.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,10 +61,10 @@ class ImuHeater
/**
* PID constants for temperature control.
*/
static constexpr float TEMPERATURE_PID_P = 1.0f;
static constexpr float TEMPERATURE_PID_I = 0.0f;
static constexpr float TEMPERATURE_PID_D = 20.0f;
static constexpr float TEMPERATURE_PID_MAX_ERR_SUM = 0.0f;
static constexpr float TEMPERATURE_PID_P = 0.12f;
static constexpr float TEMPERATURE_PID_I = 0.005f;
static constexpr float TEMPERATURE_PID_D = 0.0f; //Derivative control is unwanted on a 1st order system
static constexpr float TEMPERATURE_PID_MAX_ERR_SUM = 0.12f / TEMPERATURE_PID_I;
static constexpr float TEMPERATURE_PID_MAX_OUT = 1.0f;

/**
Expand All @@ -77,7 +77,7 @@ class ImuHeater
* Normal operating temperature is ~40 degrees C, and RM manual says the optimal operating
* temperature is ~15-20 degrees C above the normal operating temperature of the board.
*/
float imuDesiredTemperature = 50.0f;
float imuDesiredTemperature = 35.0f;

Drivers *drivers;

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