Initial values in Feedback Section of sysId

[narmstro2020]

After loading data into sysId what determines the initial values placed in Max Position Error and Max Velocity Error. And where in the sysId source code would I see where these initial values are determined.

[calcmogul]

what determines the initial values placed in Max Position Error and Max Velocity Error

They're hardcoded to reasonable starting points.
https://github.com/wpilibsuite/allwpilib/blob/main/sysid/src/main/native/include/sysid/analysis/AnalysisManager.h#L60

[calcmogul]

Scaling based on units:
https://github.com/wpilibsuite/allwpilib/blob/main/sysid/src/main/native/cpp/view/Analyzer.cpp#L185-L189

Feedback calculation:
https://github.com/wpilibsuite/allwpilib/blob/main/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp#L270

[narmstro2020]

So I understand how the values are computed from this

  // Estimate qp as 1/10 native distance unit
  m_settings.lqr.qp = 0.1;
  // Estimate qv as 1/4 * max velocity = 1/4 * (12V - kS) / kV
  m_settings.lqr.qv =
      0.25 * (12.0 - m_feedforwardGains.Ks.gain) / m_feedforwardGains.Kv.gain;

I'm not seeing what roll this plays in the calculation for feedback gains. I get the 7 for maximum control effort, but I don't see where the 1 and 1.5 come into play.

    /**
     * LQR parameters used for feedback gain calculation.
     */
    LQRParameters lqr{1, 1.5, 7};

[narmstro2020]

Or is the 1 and 1.5 just there for prefill?

[calcmogul]

They're defaults that get replaced later.