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New values, slower learning.

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This commit is contained in:
Andrzej Kapolka 2013-06-11 13:43:29 -07:00
parent 5ba1d3a28c
commit b88380db6f
2 changed files with 5 additions and 5 deletions
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2
interface/src/SerialInterface.cpp
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@ -257,7 +257,7 @@ void SerialInterface::readData(float deltaTime) {
if (fabsf(error[i]) < EPSILON) {
continue;
}
const float LEARNING_RATE = 0.01f;
const float LEARNING_RATE = 0.001f;
float rateSum = fabsf(_lastRotationRates.x) + fabsf(_lastRotationRates.y) + fabsf(_lastRotationRates.z);
if (rateSum > EPSILON) {
for (int j = 0; j < 3; j++) {

8
interface/src/SerialInterface.h
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@ -32,12 +32,12 @@ public:
_lastAcceleration(0, 0, 0),
_lastRotationRates(0, 0, 0),
_angularVelocityToLinearAccel( // experimentally derived initial values
0.001f, -0.008f, 0.020f,
0.003f, -0.003f, 0.025f,
0.017f, 0.007f, 0.029f),
0.003f, -0.001f, -0.006f,
-0.005f, -0.001f, -0.006f,
0.010f, 0.004f, 0.007f),
_angularAccelToLinearAccel( // experimentally derived initial values
0.0f, 0.0f, 0.002f,
0.0f, 0.0f, 0.002f,
0.0f, 0.0f, 0.001f,
-0.002f, -0.002f, 0.0f)
{}