From 7ca3bbec8ff9bbb216aee019ee927b6b5eb46c67 Mon Sep 17 00:00:00 2001 From: Jonas Holmberg Date: Thu, 20 Oct 2016 18:22:40 +0200 Subject: [PATCH] Changed some min max values in CLI and changed direction of the GYRO --- UAV-ControlSystem/inc/drivers/accel_gyro.h | 2 +- UAV-ControlSystem/src/config/cli.c | 46 +++++++++++----------- 2 files changed, 24 insertions(+), 24 deletions(-) diff --git a/UAV-ControlSystem/inc/drivers/accel_gyro.h b/UAV-ControlSystem/inc/drivers/accel_gyro.h index e8cd064..fd42421 100644 --- a/UAV-ControlSystem/inc/drivers/accel_gyro.h +++ b/UAV-ControlSystem/inc/drivers/accel_gyro.h @@ -101,7 +101,7 @@ #define MPU6000_REV_D9 0x59 #define MPU6000_REV_D10 0x5A -#define YAW_ROT_0 +#define YAW_ROT_180 typedef struct gyro_t { int16_t gyroX, gyroY, gyroZ; /* Gyroscope data converted into °/s */ diff --git a/UAV-ControlSystem/src/config/cli.c b/UAV-ControlSystem/src/config/cli.c index 3900980..22b3005 100644 --- a/UAV-ControlSystem/src/config/cli.c +++ b/UAV-ControlSystem/src/config/cli.c @@ -532,109 +532,109 @@ 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, EEPROM_VALUE_TYPE_PROFILE, 5, 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, 255} }, [COMMAND_ID_PID_GYRO_P_PITCH] = { - "pid_gyro_p_pitch", COMMAND_ID_PID_GYRO_P_PITCH, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 6, 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, 255} }, [COMMAND_ID_PID_GYRO_P_YAW] = { - "pid_gyro_p_yaw", COMMAND_ID_PID_GYRO_P_YAW, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 7, 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, 255} }, //GYRO I [COMMAND_ID_PID_GYRO_I_ROLL] = { - "pid_gyro_i_roll", COMMAND_ID_PID_GYRO_I_ROLL, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 8, 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, 255} }, [COMMAND_ID_PID_GYRO_I_PITCH] = { - "pid_gyro_i_pitch", COMMAND_ID_PID_GYRO_I_PITCH, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 9, 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, 255} }, [COMMAND_ID_PID_GYRO_I_YAW] = { - "pid_gyro_i_yaw", COMMAND_ID_PID_GYRO_I_YAW, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 10, 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, 255} }, //GYRO D [COMMAND_ID_PID_GYRO_D_ROLL] = { - "pid_gyro_d_roll", COMMAND_ID_PID_GYRO_D_ROLL, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 11, 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, 255} }, [COMMAND_ID_PID_GYRO_D_PITCH] = { - "pid_gyro_d_pitch", COMMAND_ID_PID_GYRO_D_PITCH, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 12, 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, 255} }, [COMMAND_ID_PID_GYRO_D_YAW] = { - "pid_gyro_d_yaw", COMMAND_ID_PID_GYRO_D_YAW, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 13, 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, 255} }, //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} + "pid_gyro_dterm_lpf", COMMAND_ID_PID_GYRO_DTERM_LPF, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 14, VAL_UINT_16, .valueRange = {0, 255} }, [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} + "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, 255} }, [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} + "pid_gyro_yaw_lpf", COMMAND_ID_PID_GYRO_YAW_P_LIMIT, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 18, VAL_UINT_16, .valueRange = {0, 255} }, [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} + "pid_gyro_out_limit", COMMAND_ID_PID_GYRO_OUT_LIMIT, EEPROM_PID_GYRO, EEPROM_VALUE_TYPE_PROFILE, 20, VAL_UINT_16, .valueRange = {0, 255} }, //ACCEL P [COMMAND_ID_PID_ACCEL_P_ROLL] = { - "pid_accel_p_roll", COMMAND_ID_PID_ACCEL_P_ROLL, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 5, 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, 255} }, [COMMAND_ID_PID_ACCEL_P_PITCH] = { - "pid_accel_p_pitch", COMMAND_ID_PID_ACCEL_P_PITCH, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 6, 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, 255} }, //ACCEL I [COMMAND_ID_PID_ACCEL_I_ROLL] = { - "pid_accel_i_roll", COMMAND_ID_PID_ACCEL_I_ROLL, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 8, 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, 255} }, [COMMAND_ID_PID_ACCEL_I_PITCH] = { - "pid_accel_i_pitch", COMMAND_ID_PID_ACCEL_I_PITCH, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 9, 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, 255} }, //ACCEL D [COMMAND_ID_PID_ACCEL_D_ROLL] = { - "pid_accel_d_roll", COMMAND_ID_PID_ACCEL_D_ROLL, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 11, 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, 255} }, [COMMAND_ID_PID_ACCEL_D_PITCH] = { - "pid_accel_d_pitch", COMMAND_ID_PID_ACCEL_D_PITCH, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 12, 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, 255} }, //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} + "pid_accel_dterm_lpf", COMMAND_ID_PID_ACCEL_DTERM_LPF, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 14, VAL_UINT_16, .valueRange = {0, 65000} }, [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, 16, VAL_UINT_16, .valueRange = {0, 100} + "pid_accel_pterm_yaw_lpf", COMMAND_ID_PID_ACCEL_PTERM_YAW_LPF, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 16, VAL_UINT_16, .valueRange = {0, 65000} }, [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, 18, VAL_UINT_16, .valueRange = {0, 100} + "pid_accel_yaw_p_limit", COMMAND_ID_PID_ACCEL_YAW_P_LIMIT, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 18, VAL_UINT_16, .valueRange = {0, 65000} }, [COMMAND_ID_PID_ACCEL_OUT_LIMIT] = { - "pid_accel_yaw_p_limit", COMMAND_ID_PID_ACCEL_OUT_LIMIT, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 20, VAL_UINT_16, .valueRange = {0, 100} + "pid_accel_yaw_p_limit", COMMAND_ID_PID_ACCEL_OUT_LIMIT, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 20, VAL_UINT_16, .valueRange = {0, 65000} }, };