diff --git a/bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino b/bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino index bf60bd2..dac9b6e 100644 --- a/bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino +++ b/bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino @@ -238,7 +238,7 @@ void repeatMe() { if (produce_serial_data) { Serial.printf("heave_cm:%.4f", heave * 100); Serial.printf(",heave_trochoid:%.4f", heave_trochoid * 100); - //Serial.printf(",h_cm:%.4f", h * 100); + Serial.printf(",h_cm:%.4f", h * 100); Serial.printf(",height_cm:%.4f", wave_height * 100); //Serial.printf(",max_cm:%.4f", min_max_h.max.value * 100); //Serial.printf(",min_cm:%.4f", min_max_h.min.value * 100); @@ -347,7 +347,7 @@ void setup(void) { Even 2cm bias in heave is too much to affect frequency a lot */ double omega_init = 0.04 * (2 * PI); // init frequency Hz * 2 * PI (start converging from omega_init/2) - double k_gain = 200.0; // Aranovskiy gain. Higher value will give faster convergence, but too high will overflow float + double k_gain = 175.0; // Aranovskiy gain. Higher value will give faster convergence, but too high will overflow float double t_0 = 0.0; double x1_0 = 0.0; double theta_0 = - (omega_init * omega_init / 4.0);