In this mode, BEAR closely simulates a spring-damper system. The Direct Force P gain is
multiplied by position error in rad and the Direct Force D gain is multiplied by velocity error
in rad/s. It’s good to start with D = 0.1P when tuning and any I gain is highly depreciate as it
will likely lead to oscillation.
Depending on the application and desired trajectory to track, iq and velocity can also be part
of the goal command sent to BEAR. In this case, a properly tuned set of velocity PID gain is
also necessary, along with a well tuned set of id/iq PID gain.
See previous sector for information on how to tune the id/iq and velocity PID gains.
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