philip/MDH-UAV-Control-System
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small changes to settings

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This commit is contained in:
Jonas Holmberg 2016-11-29 09:52:55 +01:00
parent 0ce318d2e7
commit 366bf09086
2 changed files with 2 additions and 2 deletions
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2
UAV-ControlSystem/src/Flight/pid.c
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@ -30,7 +30,7 @@
#define BAROMETER_SCALE 5
#define RADIO_RANGE 500 /*Radio range input*/
#define BAROMETER_RANGE 10 /*Determines the range of the maximum height (limits the rc input)*/
#define BAROMETER_RANGE 4 /*Determines the range of the maximum height (limits the rc input)*/
#define ACCELEROMETER_RANGE 30 /*Determines the range of the maximum angle (limits the rc input) & (Accelerometer takes int to max 16 G)*/
#define GYRO_RANGE 720 /*Determines the maximum rotational limit (limits the rc input)*/
#define COMPASS_RANGE 180 /*Determines the maximum compass limit (limits the rc input)*/

2
UAV-ControlSystem/src/drivers/accel_gyro.c
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@ -617,7 +617,7 @@ void mpu6000_read_angle(accel_t* accel, gyro_t* gyro)
//accel->pitchAngle += (a_PitchAngle - accel->pitchAngle) / (float)4000;
//Combine the gyro approximation with the accelerometer data to avoid drift
float ratio = 0.98;
float ratio = 0.9996;
accel->rollAngle = (accel->rollAngle * ratio) + (a_RollAngle * (float)(1-ratio));
accel->pitchAngle = (accel->pitchAngle * ratio) + (a_PitchAngle * (float)(1-ratio));
}