From c57ec513973d7f444925d62f8ac3cd9bb4295c63 Mon Sep 17 00:00:00 2001
From: philsson <philsson@gmail.com>
Date: Fri, 28 Oct 2016 10:22:42 +0200
Subject: [PATCH] Temp fix for eeprom problem

---
 UAV-ControlSystem/inc/Flight/pid.h |  2 ++
 UAV-ControlSystem/src/Flight/pid.c | 30 +++++++++++++++++++++++++-----
 UAV-ControlSystem/src/main.c       |  4 +++-
 3 files changed, 30 insertions(+), 6 deletions(-)

diff --git a/UAV-ControlSystem/inc/Flight/pid.h b/UAV-ControlSystem/inc/Flight/pid.h
index dd9f80f..a19bd81 100644
--- a/UAV-ControlSystem/inc/Flight/pid.h
+++ b/UAV-ControlSystem/inc/Flight/pid.h
@@ -75,4 +75,6 @@ void pidInit();
 **************************************************************************/
 void pidRun(uint8_t ID);
 
+void pidEproom(void);
+
 #endif /* FLIGHT_PID_H_ */
diff --git a/UAV-ControlSystem/src/Flight/pid.c b/UAV-ControlSystem/src/Flight/pid.c
index 335013a..b614907 100644
--- a/UAV-ControlSystem/src/Flight/pid.c
+++ b/UAV-ControlSystem/src/Flight/pid.c
@@ -498,9 +498,6 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
 	PidProfile[ID].PID_Out[PITCH] = 0;
 	PidProfile[ID].PID_Out[YAW] = 0;
 
-	PidProfile[ID].PIDweight[ROLL] = 100;
-	PidProfile[ID].PIDweight[PITCH] = 100;
-	PidProfile[ID].PIDweight[YAW] = 100;
 
 	PidProfile[ID].P[ROLL] = 10;
 	PidProfile[ID].P[PITCH] = 10;
@@ -510,6 +507,10 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
 	{
 	case PID_ID_GYRO:
 
+		PidProfile[ID].PIDweight[ROLL] = 100;
+		PidProfile[ID].PIDweight[PITCH] = 100;
+		PidProfile[ID].PIDweight[YAW] = 100;
+
 		PidProfile[ID].pidEnabled = true;
 		PidProfile[ID].dterm_lpf = 90;
 		PidProfile[ID].pid_out_limit = 3000;
@@ -517,20 +518,30 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
 		break;
 	case PID_ID_ACCELEROMETER:
 
+		PidProfile[ID].PIDweight[ROLL] = 2;
+		PidProfile[ID].PIDweight[PITCH] = 2;
+		PidProfile[ID].PIDweight[YAW] = 100;
+
 		PidProfile[ID].pidEnabled = true;
 		PidProfile[ID].dterm_lpf = 90;
 		PidProfile[ID].pid_out_limit = 1000;
-		pidProfile[ID].PIDweight[ROLL] = 50;
-		pidProfile[ID].PIDweight[PITCH] = 50;
 
 		break;
 	case PID_ID_COMPASS:
 
+		PidProfile[ID].PIDweight[ROLL] = 100;
+		PidProfile[ID].PIDweight[PITCH] = 100;
+		PidProfile[ID].PIDweight[YAW] = 100;
+
 		PidProfile[ID].pidEnabled = false;
 
 		break;
 	case PID_ID_BAROMETER:
 
+		PidProfile[ID].PIDweight[ROLL] = 100;
+		PidProfile[ID].PIDweight[PITCH] = 100;
+		PidProfile[ID].PIDweight[YAW] = 100;
+
 		PidProfile[ID].pidEnabled = false;
 
 		break;
@@ -560,3 +571,12 @@ void pidInit()
 	pidUAVInit(&PidProfile[PID_ID_BAROMETER], PID_ID_BAROMETER);
 	pidUAVInit(&PidProfile[PID_ID_COMPASS], PID_ID_COMPASS);
 }
+
+void pidEproom(void)
+{
+
+	PidProfile[PID_ID_ACCELEROMETER].PIDweight[ROLL] = 2;
+	PidProfile[PID_ID_ACCELEROMETER].PIDweight[PITCH] = 2;
+	PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100;
+
+}
diff --git a/UAV-ControlSystem/src/main.c b/UAV-ControlSystem/src/main.c
index b69cd1d..3edd170 100644
--- a/UAV-ControlSystem/src/main.c
+++ b/UAV-ControlSystem/src/main.c
@@ -51,8 +51,10 @@ void init_system()
 	/* read saved variables from eeprom, in most cases eeprom should be read after a lot of the initializes  */
 	readEEPROM();
 
+	pidEproom();
+
 	//initialize the CLI NOTE: Cant use the same usart as anything else or there will be some big trouble
-	cliInit(USART6);
+	cliInit(USART3);
 
 	//init sbus, using USART1
 	sbus_init();