philip/MDH-UAV-Control-System
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PID update, deleted code overflow

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This commit is contained in:
johan9107 2016-11-09 08:35:37 +01:00
parent 70b70fc5b6
commit 9d1b71fabc
1 changed files with 0 additions and 45 deletions
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45
UAV-ControlSystem/src/Flight/pid.c
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@ -64,43 +64,6 @@ float accRollFineTune = 0;
float accPitchFineTune = 0;
//TODO: Remove as implemented in accel_gyro
/**************************************************************************
* BRIEF: Calculates angle from accelerometer *
* INFORMATION: *
**************************************************************************/
float calcAngle(const uint8_t axis, const float x_axis, const float y_axis, const float z_axis)
{
float angle;
switch (axis)
{
case ROLL:
angle = atan2(x_axis, sqrt(y_axis*y_axis + z_axis*z_axis))*180/M_PI;
angle = -1*((angle > 0)? (z_axis < 0 )? 180 - angle: angle : (z_axis < 0 )? - 180 - angle: angle);
break;
case PITCH:
angle = atan2( y_axis, sqrt(z_axis*z_axis + x_axis*x_axis))*180/M_PI; /*down (the front down against ground) = pos angle*/
angle = (angle > 0)? ((z_axis < 0))? 180 - angle: angle : (z_axis < 0 )? - 180 - angle: angle;
break;
default:
angle = 0;
break;
}
return angle;
}
float calcGravity(accel_t profile ) //const float x_axis, const float y_axis, const float z_axis)
{
return sqrt(profile.accelXconv*profile.accelXconv + profile.accelYconv*profile.accelYconv + profile.accelZconv*profile.accelZconv);
}
/**************************************************************************
* BRIEF: Scales data from input range to output range *
* INFORMATION: *
@ -110,14 +73,6 @@ float convertData(int inputRange, int outputRange, int offset, float value)
return ((float)outputRange/(float)inputRange)*(value-(float)offset);
}
float oldSensorValue[2] = {0};
float oldSensorValueRoll[12] = {0};
float oldSensorValuePitch[12] = {0};
int i = 0;
/**************************************************************************
* BRIEF: Update current sensor values *
* INFORMATION: *