philip/MDH-UAV-Control-System
Archived
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Change in calibration. MinCommand set to 990 to be lower than lowest calibration of 1000.

Browse Source 
Max calibration is set to MAX_Pulse which is 1950 at this time instead of 2000 which we calibrated with earlier
This commit is contained in:
philsson 2016-10-24 11:55:52 +02:00
parent 7ca3bbec8f
commit 1f6bf53f62
2 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
UAV-ControlSystem/src/drivers/motormix.c
View File

@ -47,7 +47,7 @@ uint16_t motor_output[MOTOR_COUNT];
mixerConfig_s mixerConfig = { mixerConfig_s mixerConfig = {
.minThrottle = 1050, .minThrottle = 1050,
.maxThrottle = MAX_PULSE - 100, .maxThrottle = MAX_PULSE - 100,
.minCommand = 1000, .minCommand = 990,
.maxCommand = MAX_PULSE, .maxCommand = MAX_PULSE,
.minCheck = 1010, .minCheck = 1010,
.pid_at_min_throttle = true, .pid_at_min_throttle = true,

2
UAV-ControlSystem/src/drivers/motors.c
View File

@ -248,7 +248,7 @@ void calibrateMotors()
pwmActivateAllMotors(); pwmActivateAllMotors();
//First set the motor output to the maximum allowed throttle //First set the motor output to the maximum allowed throttle
for (uint8_t i = 1; i < 11; i++ ) pwmAdjustSpeedOfMotor(i,MotorPWMPeriode); for (uint8_t i = 1; i < 11; i++ ) pwmAdjustSpeedOfMotor(i,MAX_PULSE);
//wait for a little while //wait for a little while
HAL_Delay(6200); HAL_Delay(6200);