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

PID added new dweight values

Browse Source
This commit is contained in:
johan9107 2016-10-28 08:39:05 +02:00
parent 3d3d16cead
commit 428a6140b4
1 changed files with 4 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
UAV-ControlSystem/src/Flight/pid.c
View File

@ -265,7 +265,7 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
/* -----calculate P component ---- */
float PTerm = PTERM_SCALE * rateError * pidProfile->P[axis] * pidProfile-> PIDweight[axis] / 100;
float PTerm = PTERM_SCALE * rateError * (float)pidProfile->P[axis] * (float)pidProfile-> PIDweight[axis] / 100.0;
// Constrain YAW by yaw_p_limit value
if (axis == YAW)
@ -328,7 +328,7 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
delta = pt1FilterApply4(&pidProfileBuff->deltaFilter[axis], delta, pidProfile->dterm_lpf, pidProfileBuff->dT);
}
DTerm = DTERM_SCALE * delta * pidProfile->D[axis] * pidProfile->PIDweight[axis] / 100;
DTerm = DTERM_SCALE * delta * (float)pidProfile->D[axis] * (float)pidProfile->PIDweight[axis] / 100.0;
DTerm = constrainf(DTerm, -PID_MAX_D, PID_MAX_D);
}
@ -520,6 +520,8 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
PidProfile[ID].pidEnabled = true;
PidProfile[ID].dterm_lpf = 90;
PidProfile[ID].pid_out_limit = 1000;
pidProfile[ID].PIDweight[ROLL] = 50;
pidProfile[ID].PIDweight[PITCH] = 50;
break;
case PID_ID_COMPASS: