RoCoN: lower integration constant and max. speed per tick after switching 4x faster...

Signed-off-by: Pavel Pisa <ppisa@pikron.com>

diff --git a/sw/app/rocon/appl_pxmc.c b/sw/app/rocon/appl_pxmc.c
index 7d35393b20da1a78f1490ae8d2feccb578528b63..ab7e038a541e56513824d9ecc1f3f482812c3437 100644 (file)
--- a/sw/app/rocon/appl_pxmc.c
+++ b/sw/app/rocon/appl_pxmc.c
@@ -1077,11 +1077,11 @@ pxms_do_ap2hw:
   pxmc_inp_rocon_ap2hw,
   pxms_ap: 0, pxms_as: 0,
   pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
-  pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+  pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
   pxms_inp_info: 0,
   pxms_out_info: 0,
   pxms_ene: 0, pxms_erc: 0,
-  pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+  pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
   pxms_me: 0x7e00/*0x7fff*/,
 pxms_cfg:
   PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_HPS_m * 0 |
@@ -1112,11 +1112,11 @@ pxms_do_ap2hw:
   pxmc_inp_rocon_ap2hw,
   pxms_ap: 0, pxms_as: 0,
   pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
-  pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+  pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
   pxms_inp_info: 1,
   pxms_out_info: 2,
   pxms_ene: 0, pxms_erc: 0,
-  pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+  pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
   pxms_me: 0x7e00/*0x7fff*/,
 pxms_cfg:
   PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_HPS_m * 0 |
@@ -1146,11 +1146,11 @@ pxms_do_ap2hw:
   pxmc_inp_rocon_ap2hw,
   pxms_ap: 0, pxms_as: 0,
   pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
-  pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+  pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
   pxms_inp_info: 2,
   pxms_out_info: 4,
   pxms_ene: 0, pxms_erc: 0,
-  pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+  pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
   pxms_me: 0x7e00/*0x7fff*/,
 pxms_cfg:
   PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_HPS_m * 0 |
@@ -1180,11 +1180,11 @@ pxms_do_ap2hw:
   pxmc_inp_rocon_ap2hw,
   pxms_ap: 0, pxms_as: 0,
   pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
-  pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+  pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
   pxms_inp_info: 3,
   pxms_out_info: 6,
   pxms_ene: 0, pxms_erc: 0,
-  pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+  pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
   pxms_me: 0x7e00/*0x7fff*/,
 pxms_cfg:
   PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_HPS_m * 0 |
@@ -1214,11 +1214,11 @@ pxms_do_ap2hw:
   pxmc_inp_rocon_ap2hw,
   pxms_ap: 0, pxms_as: 0,
   pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
-  pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+  pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
   pxms_inp_info: 4,
   pxms_out_info: 8,
   pxms_ene: 0, pxms_erc: 0,
-  pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+  pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
   pxms_me: 0x7e00/*0x7fff*/,
 pxms_cfg:
   PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_HPS_m * 0 |
@@ -1248,11 +1248,11 @@ pxms_do_ap2hw:
   pxmc_inp_rocon_ap2hw,
   pxms_ap: 0, pxms_as: 0,
   pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
-  pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+  pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
   pxms_inp_info: 5,
   pxms_out_info: 10,
   pxms_ene: 0, pxms_erc: 0,
-  pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+  pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
   pxms_me: 0x7e00/*0x7fff*/,
 pxms_cfg:
   PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_HPS_m |
@@ -1282,11 +1282,11 @@ pxms_do_ap2hw:
   pxmc_inp_rocon_ap2hw,
   pxms_ap: 0, pxms_as: 0,
   pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
-  pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+  pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
   pxms_inp_info: 6,
   pxms_out_info: 12,
   pxms_ene: 0, pxms_erc: 0,
-  pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+  pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
   pxms_me: 0x7e00/*0x7fff*/,
 pxms_cfg:
   PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_I2PT_m * 0 |
@@ -1315,11 +1315,11 @@ pxms_do_ap2hw:
   pxmc_inp_rocon_ap2hw,
   pxms_ap: 0, pxms_as: 0,
   pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
-  pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+  pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
   pxms_inp_info: 7,
   pxms_out_info: 14,
   pxms_ene: 0, pxms_erc: 0,
-  pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+  pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
   pxms_me: 0x7e00/*0x7fff*/,
 pxms_cfg:
   PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_I2PT_m * 0 |