Ankit’s Status Report for 12/07/2024

This past week I spent a lot of time working on fixing high frequency noise in the controller. I noticed quite a few oscillations around the setpoint which I hypothesized were being caused by high frequency noise in the gyro that was interacting with the D term. To solve this, I implemented a Exponential Moving Average on the gyro readings in order to smooth them out (although this causes a bit of lag) and implemented a variable gain schedule to provide better stability. We are very close to hovering