philip/MDH-UAV-Control-System
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PID added desired height value to define

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johan9107 2016-11-10 14:12:59 +01:00
parent aa93a954d8
commit 5873b4326e
1 changed files with 3 additions and 1 deletions
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4
UAV-ControlSystem/src/Flight/pid.c
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@ -37,6 +37,8 @@
#define PID_MAX_I 256 /*Constrains ITerm*/ #define PID_MAX_I 256 /*Constrains ITerm*/
#define PID_MAX_D 512 /*Constrains DTerm*/ #define PID_MAX_D 512 /*Constrains DTerm*/
#define DESIRED_HEIGHT 5
/*Struct that belongs to a certain PID controller*/ /*Struct that belongs to a certain PID controller*/
typedef struct pidProfileBuff_s { 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] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, rc_input.Throttle*throttleRate);
desiredCommand[THROTTLE] = 5*BAROMETER_SCALE; desiredCommand[THROTTLE] = DESIRED_HEIGHT*BAROMETER_SCALE;
break; break;
default: default: