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Connected cli and eeprom, and motormix to PID settings

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Connected cli and eeprom, and motormix to PID settings
This commit is contained in:
johan9107 2016-10-19 16:59:48 +02:00
parent 8bb27e91fa
commit 7763f73c2c
8 changed files with 103 additions and 142 deletions
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19
UAV-ControlSystem/inc/Flight/pid.h
View File

@ -25,11 +25,15 @@
#define PID_ID_ACCELEROMETER 1
#define PID_ID_COMPASS 2
#define PID_ID_BAROMETER 3
#define PID_COUNT 4
#define THROTTLE 0 /*Index terms to the PID*/
#define ROLL 0 /*Index terms to the PID*/
#define PITCH 1 /*Index terms to the PID*/
#define YAW 2 /*Index terms to the PID*/
/*Enum of index to different profiles*/
typedef enum {
ROLL = 0,
PITCH,
YAW
} RollPitchYaw;
/*Struct that belongs to a certain PID controller*/
typedef struct pidProfile_s {
@ -53,8 +57,11 @@ typedef struct pidProfile_s {
} pidProfile_t;
/*Is set in motor mix and used in pidUAVcore */
extern bool motorLimitReached;
/*Array of all pid profiles of the system*/
extern pidProfile_t PidProfile[PID_COUNT];
/*Is set in motor mix and used in pidUAVcore and mix */
bool motorLimitReached;
/**************************************************************************
* BRIEF: Initializes PID profiles *

4
UAV-ControlSystem/inc/config/cli.h
View File

@ -64,10 +64,10 @@ bool cliShouldRun();
* to place within the correct enum container system or profile.
*
* 2: In eeprom.c add two values to the correct array for the value
* profile or system. THe two values should be the pointer to the
* profile or system. The two values should be the pointer to the
* value to store in eeprom and the size of said value.
*
* 3: Now the value should be storable int the EEPROM.
* 3: Now the value should be storable in the EEPROM.
*
* B: Create the actual command in the CLI.
*

18
UAV-ControlSystem/inc/config/eeprom.h
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@ -197,22 +197,8 @@ typedef enum {
/* List of all profile EEPROM values */
typedef enum {
EEPROM_PID_GYRO_P_ROLL,
EEPROM_PID_GYRO_P_PITCH,
EEPROM_PID_GYRO_P_YAW,
EEPROM_PID_GYRO_I_ROLL,
EEPROM_PID_GYRO_I_PITCH,
EEPROM_PID_GYRO_I_YAW,
EEPROM_PID_GYRO_D_ROLL,
EEPROM_PID_GYRO_D_PITCH,
EEPROM_PID_GYRO_D_YAW,
EEPROM_PID_ACCEL_P_ROLL,
EEPROM_PID_ACCEL_P_PITCH,
EEPROM_PID_ACCEL_I_ROLL,
EEPROM_PID_ACCEL_I_PITCH,
EEPROM_PID_ACCEL_D_ROLL,
EEPROM_PID_ACCEL_D_PITCH,
EEPROM_PID_GYRO,
EEPROM_PID_ACCELEROMETER,
/* Counts the amount of settings in profile */
EEPROM_PROFILE_COUNT

6
UAV-ControlSystem/inc/drivers/motormix.h
View File

@ -27,12 +27,6 @@
// TODO: These are only temporary before merge with PID part
int16_t PID_Out[3];
// TODO: Temporary before PID
typedef enum {
ROLL = 0,
PITCH,
YAW
} RollPitchYaw;
// TODO: Implement in EEPROM

16
UAV-ControlSystem/src/Flight/pid.c
View File

@ -31,7 +31,6 @@
#define PID_MAX_I 256 /*Constrains ITerm*/
#define PID_MAX_D 512 /*Constrains DTerm*/
#define PID_COUNT 4
/*Struct that belongs to a certain PID controller*/
typedef struct pidProfileBuff_s {
@ -49,9 +48,8 @@ typedef struct pidProfileBuff_s {
} pidProfileBuff_t;
bool motorLimitReached = false; /*Implement in mix*/
pidProfile_t PidProfile[PID_COUNT] = {0};
pidProfile_t PidProfile[PID_COUNT] = {0}; /*Array of all pid profiles of the system*/
pidProfileBuff_t PidProfileBuff[PID_COUNT] = {0};
accel_t accelProfile; /*Struct profile for input data from sensor*/
@ -103,7 +101,7 @@ void getCurrentValues(float *sensorValues, uint8_t ID_profile)
mpu6000_read_accel(&accelProfile); /*Reads data from accelerometer*/
/*May need Low pass filter since the accelerometer may drift*/
sensorValues[ROLL] = atan2(accelProfile.accelXconv,accelProfile.accelZconv)*180*M_PI;//acos(accelProfile.accelXconv/R)*180/M_PI;
sensorValues[ROLL] = atan2(accelProfile.accelXconv,accelProfile.accelZconv)*180*M_PI;
sensorValues[PITCH] = atan2(-accelProfile.accelXconv, sqrt(accelProfile.accelYconv*accelProfile.accelYconv + accelProfile.accelZconv*accelProfile.accelZconv))*180/M_PI;
break;
@ -174,7 +172,6 @@ void getPointRate(float *desiredCommand, uint8_t ID_profile)
}
}
/**************************************************************************
* BRIEF: The PID core *
* INFORMATION: The actual PID controller, calculates the final output of *
@ -345,7 +342,8 @@ void pidRun(uint8_t ID)
}
/**************************************************************************
* BRIEF: Initializes a certain pid profile connected to a PID controller *
* BRIEF: Initializes a certain pidbuffer profile connected to *
* a PID controller *
* INFORMATION: Recommended to use if unexpected values occur of profile *
**************************************************************************/
void pidUAVInitBuff(pidProfileBuff_t *pidProfile, uint8_t ID)
@ -403,6 +401,11 @@ void pidUAVInitBuff(pidProfileBuff_t *pidProfile, uint8_t ID)
PidProfileBuff[ID].yawFilter.RC = 0;
}
/**************************************************************************
* BRIEF: Initializes a certain pid profile connected to a PID controller *
* INFORMATION: Recommended to use if unexpected values occur of profile *
**************************************************************************/
void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
{
/*This is recommended init settings*/
@ -456,6 +459,7 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
void pidInit()
{
mpu6000_init(&gyroProfile,&accelProfile); /*Init gyro and accelerometer*/
motorLimitReached = false;
pidUAVInitBuff(&PidProfileBuff[PID_ID_GYRO], PID_ID_GYRO);
pidUAVInitBuff(&PidProfileBuff[PID_ID_ACCELEROMETER], PID_ID_ACCELEROMETER);

76
UAV-ControlSystem/src/config/cli.c
View File

@ -246,6 +246,11 @@ typedef enum
COMMAND_ID_PID_GYRO_D_PITCH,
COMMAND_ID_PID_GYRO_D_YAW,
COMMAND_ID_PID_GYRO_DTERM_LPF,
COMMAND_ID_PID_GYRO_PTERM_YAW_LPF,
COMMAND_ID_PID_GYRO_YAW_P_LIMIT,
COMMAND_ID_PID_GYRO_OUT_LIMIT,
//ACCEL
COMMAND_ID_PID_ACCEL_P_ROLL,
COMMAND_ID_PID_ACCEL_P_PITCH,
@ -256,6 +261,11 @@ typedef enum
COMMAND_ID_PID_ACCEL_D_ROLL,
COMMAND_ID_PID_ACCEL_D_PITCH,
COMMAND_ID_PID_ACCEL_DTERM_LPF,
COMMAND_ID_PID_ACCEL_PTERM_YAW_LPF,
COMMAND_ID_PID_ACCEL_YAW_P_LIMIT,
COMMAND_ID_PID_ACCEL_OUT_LIMIT,
/* Counter for the amount of commands */
COMMAND_ID_COUNT,
@ -522,76 +532,110 @@ const cliCommandConfig_t commandTable[COMMAND_ID_COUNT] = {
//GYRO P
[COMMAND_ID_PID_GYRO_P_ROLL] =
{
"pid_gyro_p_roll", COMMAND_ID_PID_GYRO_P_ROLL, EEPROM_PID_GYRO_P_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_gyro_p_roll", COMMAND_ID_PID_GYRO_P_ROLL, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 5, VAL_UINT_8, .valueRange = {0, 100}
},
[COMMAND_ID_PID_GYRO_P_PITCH] =
{
"pid_gyro_p_pitch", COMMAND_ID_PID_GYRO_P_PITCH, EEPROM_PID_GYRO_P_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_gyro_p_pitch", COMMAND_ID_PID_GYRO_P_PITCH, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 6, VAL_UINT_8, .valueRange = {0, 100}
},
[COMMAND_ID_PID_GYRO_P_YAW] =
{
"pid_gyro_p_yaw", COMMAND_ID_PID_GYRO_P_YAW, EEPROM_PID_GYRO_P_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_gyro_p_yaw", COMMAND_ID_PID_GYRO_P_YAW, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 7, VAL_UINT_8, .valueRange = {0, 100}
},
//GYRO I
[COMMAND_ID_PID_GYRO_I_ROLL] =
{
"pid_gyro_i_roll", COMMAND_ID_PID_GYRO_I_ROLL, EEPROM_PID_GYRO_I_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_gyro_i_roll", COMMAND_ID_PID_GYRO_I_ROLL, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 8, VAL_UINT_8, .valueRange = {0, 100}
},
[COMMAND_ID_PID_GYRO_I_PITCH] =
{
"pid_gyro_i_pitch", COMMAND_ID_PID_GYRO_I_PITCH, EEPROM_PID_GYRO_I_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_gyro_i_pitch", COMMAND_ID_PID_GYRO_I_PITCH, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 9, VAL_UINT_8, .valueRange = {0, 100}
},
[COMMAND_ID_PID_GYRO_I_YAW] =
{
"pid_gyro_i_yaw", COMMAND_ID_PID_GYRO_I_YAW, EEPROM_PID_GYRO_I_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_gyro_i_yaw", COMMAND_ID_PID_GYRO_I_YAW, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 10, VAL_UINT_8, .valueRange = {0, 100}
},
//GYRO D
[COMMAND_ID_PID_GYRO_D_ROLL] =
{
"pid_gyro_d_roll", COMMAND_ID_PID_GYRO_D_ROLL, EEPROM_PID_GYRO_D_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_gyro_d_roll", COMMAND_ID_PID_GYRO_D_ROLL, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 11, VAL_UINT_8, .valueRange = {0, 100}
},
[COMMAND_ID_PID_GYRO_D_PITCH] =
{
"pid_gyro_d_pitch", COMMAND_ID_PID_GYRO_D_PITCH, EEPROM_PID_GYRO_D_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_gyro_d_pitch", COMMAND_ID_PID_GYRO_D_PITCH, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 12, VAL_UINT_8, .valueRange = {0, 100}
},
[COMMAND_ID_PID_GYRO_D_YAW] =
{
"pid_gyro_d_yaw", COMMAND_ID_PID_GYRO_D_YAW, EEPROM_PID_GYRO_D_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_gyro_d_yaw", COMMAND_ID_PID_GYRO_D_YAW, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 13, VAL_UINT_8, .valueRange = {0, 100}
},
//Gyro filter and limits
[COMMAND_ID_PID_GYRO_DTERM_LPF] =
{
"pid_gyro_dterm_lpf", COMMAND_ID_PID_GYRO_DTERM_LPF, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 14, VAL_UINT_16, .valueRange = {0, 100}
},
[COMMAND_ID_PID_GYRO_PTERM_YAW_LPF] =
{
"pid_gyro_pterm_yaw_lpf", COMMAND_ID_PID_GYRO_PTERM_YAW_LPF, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 16, VAL_UINT_16, .valueRange = {0, 100}
},
[COMMAND_ID_PID_GYRO_YAW_P_LIMIT] =
{
"pid_gyro_yaw_lpf", COMMAND_ID_PID_GYRO_YAW_P_LIMIT, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 18, VAL_UINT_16, .valueRange = {0, 100}
},
[COMMAND_ID_PID_GYRO_OUT_LIMIT] =
{
"pid_gyro_out_limit", COMMAND_ID_PID_GYRO_OUT_LIMIT, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 20, VAL_UINT_16, .valueRange = {0, 100}
},
//ACCEL P
[COMMAND_ID_PID_ACCEL_P_ROLL] =
{
"pid_accel_p_roll", COMMAND_ID_PID_ACCEL_P_ROLL, EEPROM_PID_ACCEL_P_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_accel_p_roll", COMMAND_ID_PID_ACCEL_P_ROLL, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 5, VAL_UINT_8, .valueRange = {0, 100}
},
[COMMAND_ID_PID_ACCEL_P_PITCH] =
{
"pid_accel_p_pitch", COMMAND_ID_PID_ACCEL_P_PITCH, EEPROM_PID_ACCEL_P_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_accel_p_pitch", COMMAND_ID_PID_ACCEL_P_PITCH, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 6, VAL_UINT_8, .valueRange = {0, 100}
},
//ACCEL I
[COMMAND_ID_PID_ACCEL_I_ROLL] =
{
"pid_accel_i_roll", COMMAND_ID_PID_ACCEL_I_ROLL, EEPROM_PID_ACCEL_I_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_accel_i_roll", COMMAND_ID_PID_ACCEL_I_ROLL, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 8, VAL_UINT_8, .valueRange = {0, 100}
},
[COMMAND_ID_PID_ACCEL_I_PITCH] =
{
"pid_accel_i_pitch", COMMAND_ID_PID_ACCEL_I_PITCH, EEPROM_PID_ACCEL_I_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_accel_i_pitch", COMMAND_ID_PID_ACCEL_I_PITCH, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 9, VAL_UINT_8, .valueRange = {0, 100}
},
//ACCEL D
[COMMAND_ID_PID_ACCEL_D_ROLL] =
{
"pid_accel_d_roll", COMMAND_ID_PID_ACCEL_D_ROLL, EEPROM_PID_ACCEL_D_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_accel_d_roll", COMMAND_ID_PID_ACCEL_D_ROLL, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 11, VAL_UINT_8, .valueRange = {0, 100}
},
[COMMAND_ID_PID_ACCEL_D_PITCH] =
{
"pid_accel_d_pitch", COMMAND_ID_PID_ACCEL_D_PITCH, EEPROM_PID_ACCEL_D_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
"pid_accel_d_pitch", COMMAND_ID_PID_ACCEL_D_PITCH, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 12, VAL_UINT_8, .valueRange = {0, 100}
},
//ACCEL Filters and limits
[COMMAND_ID_PID_ACCEL_DTERM_LPF] =
{
"pid_accel_dterm_lpf", COMMAND_ID_PID_ACCEL_DTERM_LPF, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 14, VAL_UINT_16, .valueRange = {0, 100}
},
[COMMAND_ID_PID_ACCEL_PTERM_YAW_LPF] =
{
"pid_accel_pterm_yaw_lpf", COMMAND_ID_PID_ACCEL_PTERM_YAW_LPF, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 15, VAL_UINT_16, .valueRange = {0, 100}
},
[COMMAND_ID_PID_ACCEL_YAW_P_LIMIT] =
{
"pid_accel_yaw_p_limit", COMMAND_ID_PID_ACCEL_YAW_P_LIMIT, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 17, VAL_UINT_16, .valueRange = {0, 100}
},
[COMMAND_ID_PID_ACCEL_OUT_LIMIT] =
{
"pid_accel_yaw_p_limit", COMMAND_ID_PID_ACCEL_OUT_LIMIT, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 18, VAL_UINT_16, .valueRange = {0, 100}
},
};
/***********************************************************************

88
UAV-ControlSystem/src/config/eeprom.c
View File

@ -256,92 +256,16 @@ EEPROM_DATA_t eeprom_sys_Arr[EEPROM_SYS_COUNT] = {
/* Data pointers and sizes for profile content */
EEPROM_DATA_t eeprom_profile_Arr[EEPROM_PROFILE_COUNT] = {
//GYRO P VAL
[EEPROM_PID_GYRO_P_ROLL] =
[EEPROM_PID_GYRO] =
{
.size = sizeof(PidGyroProfile.P[0]),
.dataPtr = &PidProfile[PID_ID_GYRO].P[0],
.size = sizeof(pidProfile_t),
.dataPtr = &(PidProfile[PID_ID_GYRO]),
},
[EEPROM_PID_GYRO_P_PITCH] =
[EEPROM_PID_ACCELEROMETER] =
{
.size = sizeof(PidGyroProfile.P[1]),
.dataPtr = &PidGyroProfile.P[1],
.size = sizeof(pidProfile_t),
.dataPtr = &(PidProfile[PID_ID_ACCELEROMETER]),
},
[EEPROM_PID_GYRO_P_YAW] =
{
.size = sizeof(PidGyroProfile.P[2]),
.dataPtr = &PidGyroProfile.P[2],
},
//GYRO I VAL
[EEPROM_PID_GYRO_I_ROLL] =
{
.size = sizeof(PidGyroProfile.I[0]),
.dataPtr = &PidGyroProfile.I[0],
},
[EEPROM_PID_GYRO_I_PITCH] =
{
.size = sizeof(PidGyroProfile.I[1]),
.dataPtr = &PidGyroProfile.I[1],
},
[EEPROM_PID_GYRO_I_YAW] =
{
.size = sizeof(PidGyroProfile.I[2]),
.dataPtr = &PidGyroProfile.I[2],
},
//GYRO D VAL
[EEPROM_PID_GYRO_D_ROLL] =
{
.size = sizeof(PidGyroProfile.D[0]),
.dataPtr = &PidGyroProfile.D[0],
},
[EEPROM_PID_GYRO_D_PITCH] =
{
.size = sizeof(PidGyroProfile.D[1]),
.dataPtr = &PidGyroProfile.D[1],
},
[EEPROM_PID_GYRO_D_YAW] =
{
.size = sizeof(PidGyroProfile.D[2]),
.dataPtr = &PidGyroProfile.D[2],
},
//ACCEL P VAL
[EEPROM_PID_ACCEL_P_ROLL] =
{
.size = sizeof(PidAccelerometerProfile.P[0]),
.dataPtr = &PidAccelerometerProfile.P[0],
},
[EEPROM_PID_ACCEL_P_PITCH] =
{
.size = sizeof(PidAccelerometerProfile.P[1]),
.dataPtr = &PidAccelerometerProfile.P[1],
},
//ACCEL I VAL
[EEPROM_PID_ACCEL_I_ROLL] =
{
.size = sizeof(PidAccelerometerProfile.I[0]),
.dataPtr = &PidAccelerometerProfile.I[0],
},
[EEPROM_PID_ACCEL_I_PITCH] =
{
.size = sizeof(PidAccelerometerProfile.I[1]),
.dataPtr = &PidAccelerometerProfile.I[1],
},
//ACCEL_D_VAL
[EEPROM_PID_ACCEL_D_ROLL] =
{
.size = sizeof(PidAccelerometerProfile.D[0]),
.dataPtr = &PidAccelerometerProfile.D[0],
},
[EEPROM_PID_ACCEL_D_PITCH] =
{
.size = sizeof(PidAccelerometerProfile.D[1]),
.dataPtr = &PidAccelerometerProfile.D[1],
},
};
/* Data pointers and sizes for footer content */

18
UAV-ControlSystem/src/drivers/motormix.c
View File

@ -100,7 +100,7 @@ void mix()
int16_t RPY_Mix[MOTOR_COUNT]; // Roll Pitch and Yaw variables array
int16_t RPY_Mix_Min = 0; // Stores the minimum desired command for any motor
int16_t RPY_Mix_Max = 0; // Maximum desired command for any motor
int16_t throttle = sbusChannelData.chan3; // Import throttle value from remote
int16_t throttle = PidProfile[PID_ID_BAROMETER].PID_Out[THROTTLE]; // Import throttle value from remote
// Might be used for some debug if necessary
//static bool motorLimitReached;
@ -114,9 +114,11 @@ void mix()
* Calculation is: Output from control system * weight from model for each motor
*/
RPY_Mix[i] = \
PID_Out[PITCH] * mixerUAV[i].pitch + \
PID_Out[ROLL] * mixerUAV[i].roll + \
PID_Out[YAW] * mixerUAV[i].yaw * ((mixerConfig.yaw_reverse_direction) ? -1 : 1);
PidProfile[PID_ID_GYRO].PID_Out[ROLL] * mixerUAV[i].roll + \
PidProfile[PID_ID_GYRO].PID_Out[PITCH] * mixerUAV[i].pitch + \
PidProfile[PID_ID_GYRO].PID_Out[YAW] * mixerUAV[i].yaw * ((mixerConfig.yaw_reverse_direction) ? -1 : 1);
// Update min and max values
if (RPY_Mix[i] > RPY_Mix_Max) RPY_Mix_Max = RPY_Mix[i];
@ -191,10 +193,10 @@ void mix()
for (int i = 0; i < MOTOR_COUNT; i++) // Without airmode this includes throttle
{
RPY_Mix[i] = \
throttle * mixerUAV[i].throttle + \
PID_Out[PITCH] * mixerUAV[i].pitch + \
PID_Out[ROLL] * mixerUAV[i].roll + \
PID_Out[YAW] * mixerUAV[i].yaw * ((mixerConfig.yaw_reverse_direction) ? -1 : 1);
throttle * mixerUAV[i].throttle + \
PidProfile[PID_ID_GYRO].PID_Out[ROLL] * mixerUAV[i].roll + \
PidProfile[PID_ID_GYRO].PID_Out[PITCH] * mixerUAV[i].pitch + \
PidProfile[PID_ID_GYRO].PID_Out[YAW] * mixerUAV[i].yaw * ((mixerConfig.yaw_reverse_direction) ? -1 : 1);
}