Open brettle opened 7 months ago
The following 2 lines allow tests to pass with incorrect kPs:
https://github.com/wpilibsuite/allwpilib/blob/11c60df3e02062aa06b8d57711f1a3885229967f/sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp#L88
https://github.com/wpilibsuite/allwpilib/blob/11c60df3e02062aa06b8d57711f1a3885229967f/sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp#L103
Note that the tolerances are larger than the expected values, so even some negative kPs would be accepted.
The expected kPs themselves appear to actually be wrong but this went undetected due to the tolerances being too high.
We need some models with enough inertia that they have feedback gains above the noise floor.
The following 2 lines allow tests to pass with incorrect kPs:
https://github.com/wpilibsuite/allwpilib/blob/11c60df3e02062aa06b8d57711f1a3885229967f/sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp#L88
https://github.com/wpilibsuite/allwpilib/blob/11c60df3e02062aa06b8d57711f1a3885229967f/sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp#L103
Note that the tolerances are larger than the expected values, so even some negative kPs would be accepted.
The expected kPs themselves appear to actually be wrong but this went undetected due to the tolerances being too high.