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

PID added desired height value to define

Browse Source
This commit is contained in:
johan9107 2016-11-10 14:12:59 +01:00
parent aa93a954d8
commit 5873b4326e
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
UAV-ControlSystem/src/Flight/pid.c
View File

@ -37,6 +37,8 @@
#define PID_MAX_I 256 /*Constrains ITerm*/
#define PID_MAX_D 512 /*Constrains DTerm*/
#define DESIRED_HEIGHT 5
/*Struct that belongs to a certain PID controller*/
typedef struct pidProfileBuff_s {
@ -176,7 +178,7 @@ void getPointRate(float *desiredCommand, uint8_t ID_profile)
//desiredCommand[THROTTLE] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, rc_input.Throttle*throttleRate);
desiredCommand[THROTTLE] = 5*BAROMETER_SCALE;
desiredCommand[THROTTLE] = DESIRED_HEIGHT*BAROMETER_SCALE;
break;
default: