More space for more digits

Author: ufechner7

data/wc_settings.yaml

@@ -1,37 +1,37 @@
 wc_settings:
-    dt: 0.02         # time step of the winch controller
+    dt: 0.02          # time step of the winch controller
     test: false
-    fac: 1.0         # factor for I and P of lower force controller
-    max_iter: 100    # max iterations limit for the PID solvers
-    iter: 0          # actual max iterations of the PID solvers
-    t_startup: 0.25  # startup time for soft start  
-    t_blend: 0.1     # blending time of the mixers in seconds
-    v_sat_error: 1.0 # limit of reel-out speed error, used by the input sat block of the speed controller
-    v_sat: 8.0       # limit of reel-out speed, used by the output sat block of the speed controller
-    v_ri_max: 8.0    # maximal reel-in speed [m/s]
-    p_speed: 0.125   # P value of the speed controller
-    i_speed:  6.0    # I value of the speed controller
-    kb_speed: 4.0    # back calculation constant for the anti-windup loop of the speed controller
-    kt_speed: 5.0    # tracking constant of the speed controller
-    vf_max: 2.75     # reel-out velocity where the set force should reach it's maximum
-    pf_low: 0.00014  # P constant of the lower force controller 0.013,  0.00014 also works
-    if_low: 0.01125  # I constant of the lower force controller 0.0225, 0.01125 also works
+    fac: 1.0          # factor for I and P of lower force controller
+    max_iter: 100     # max iterations limit for the PID solvers
+    iter: 0           # actual max iterations of the PID solvers
+    t_startup: 0.25   # startup time for soft start  
+    t_blend: 0.1      # blending time of the mixers in seconds
+    v_sat_error: 1.0  # limit of reel-out speed error, used by the input sat block of the speed controller
+    v_sat: 8.0        # limit of reel-out speed, used by the output sat block of the speed controller
+    v_ri_max: 8.0     # maximal reel-in speed [m/s]
+    p_speed: 0.125    # P value of the speed controller
+    i_speed:  6.0     # I value of the speed controller
+    kb_speed: 4.0     # back calculation constant for the anti-windup loop of the speed controller
+    kt_speed: 5.0     # tracking constant of the speed controller
+    vf_max: 2.75      # reel-out velocity where the set force should reach it's maximum
+    pf_low: 0.00014   # P constant of the lower force controller 0.013,  0.00014 also works
+    if_low: 0.01125   # I constant of the lower force controller 0.0225, 0.01125 also works
 
-    df_low: 0.0      # D constant of lower force controller 0.000017
-    nf_low:  0       # filter constant n of lower force controller
-    kbf_low: 8.0     # back calculation constant for the anti-windup loop of the lower force controller
-    ktf_low: 8.0     # tracking constant of the lower force controller
-    f_low: 350       # lower force limit [N]
-    f_reelin: 700    # set force for reel-in phase [N]
-    f_high: 3800     # upper force limit [N]
+    df_low: 0.0        # D constant of lower force controller 0.000017
+    nf_low:  0         # filter constant n of lower force controller
+    kbf_low: 8.0       # back calculation constant for the anti-windup loop of the lower force controller
+    ktf_low: 8.0       # tracking constant of the lower force controller
+    f_low: 350         # lower force limit [N]
+    f_reelin: 700      # set force for reel-in phase [N]
+    f_high: 3800       # upper force limit [N]
     pf_high: 0.0002304 # P constant of upper force controller
     if_high: 0.012     # I constant of upper force controller
-    df_high: 2.4e-5  # D constant of upper force controller
-    nf_high: 15.0    # filter constant n of upper force controller
-    kbf_high: 1.0    # back calculation constant for the anti-windup loop of the upper force controller
-    ktf_high: 10.0   # tracking constant of the upper force controller
-    winch_iter: 10   # iterations of the winch model
-    max_acc: 8.0     # maximal acceleration of the winch (derivative of the set value of the reel-out speed)
+    df_high: 2.4e-5    # D constant of upper force controller
+    nf_high: 15.0      # filter constant n of upper force controller
+    kbf_high: 1.0      # back calculation constant for the anti-windup loop of the upper force controller
+    ktf_high: 10.0     # tracking constant of the upper force controller
+    winch_iter: 10     # iterations of the winch model
+    max_acc: 8.0       # maximal acceleration of the winch (derivative of the set value of the reel-out speed)
     damage_factor: 0.1 # damage at max acceleration
-    kv: 0.06         # proportional factor of the square root law, see function calc_vro
+    kv: 0.06           # proportional factor of the square root law, see function calc_vro