philip/MDH-UAV-Control-System
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Small value changes before second barometer test flight

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This commit is contained in:
Jonas Holmberg 2016-11-11 11:01:43 +01:00
parent 5873b4326e
commit a5a888f553
1 changed files with 3 additions and 3 deletions
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6
UAV-ControlSystem/src/Flight/pid.c
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@ -37,7 +37,7 @@
#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 #define DESIRED_HEIGHT 1.5 /*Height value in meters*/
/*Struct that belongs to a certain PID controller*/ /*Struct that belongs to a certain PID controller*/
typedef struct pidProfileBuff_s { typedef struct pidProfileBuff_s {
@ -68,7 +68,7 @@ float accRollFineTune = 0;
float accPitchFineTune = 0; float accPitchFineTune = 0;
float throttleRate = 1; float throttleRate = 1;
int HoverForce = 1485;/*Struct profile for input data from sensor*/ int HoverForce = 1475;/*Struct profile for input data from sensor*/
/************************************************************************** /**************************************************************************
* BRIEF: Scales data from input range to output range * * BRIEF: Scales data from input range to output range *
@ -353,7 +353,7 @@ void pidRun(uint8_t ID)
else else
{ {
pidUAV(&PidProfile[PID_ID_BAROMETER], &PidProfileBuff[PID_ID_BAROMETER]); pidUAV(&PidProfile[PID_ID_BAROMETER], &PidProfileBuff[PID_ID_BAROMETER]);
PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -1, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit); PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -15, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
} }