philip/MDH-UAV-Control-System
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Temp fix for eeprom problem

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philsson 2016-10-28 10:22:42 +02:00
parent 428a6140b4
commit c57ec51397
3 changed files with 30 additions and 6 deletions
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2
UAV-ControlSystem/inc/Flight/pid.h
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@ -75,4 +75,6 @@ void pidInit();
**************************************************************************/ **************************************************************************/
void pidRun(uint8_t ID); void pidRun(uint8_t ID);
void pidEproom(void);
#endif /* FLIGHT_PID_H_ */ #endif /* FLIGHT_PID_H_ */

30
UAV-ControlSystem/src/Flight/pid.c
View File

@ -498,9 +498,6 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
PidProfile[ID].PID_Out[PITCH] = 0; PidProfile[ID].PID_Out[PITCH] = 0;
PidProfile[ID].PID_Out[YAW] = 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[ROLL] = 10;
PidProfile[ID].P[PITCH] = 10; PidProfile[ID].P[PITCH] = 10;
@ -510,6 +507,10 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
{ {
case PID_ID_GYRO: 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].pidEnabled = true;
PidProfile[ID].dterm_lpf = 90; PidProfile[ID].dterm_lpf = 90;
PidProfile[ID].pid_out_limit = 3000; PidProfile[ID].pid_out_limit = 3000;
@ -517,20 +518,30 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
break; break;
case PID_ID_ACCELEROMETER: 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].pidEnabled = true;
PidProfile[ID].dterm_lpf = 90; PidProfile[ID].dterm_lpf = 90;
PidProfile[ID].pid_out_limit = 1000; PidProfile[ID].pid_out_limit = 1000;
pidProfile[ID].PIDweight[ROLL] = 50;
pidProfile[ID].PIDweight[PITCH] = 50;
break; break;
case PID_ID_COMPASS: case PID_ID_COMPASS:
PidProfile[ID].PIDweight[ROLL] = 100;
PidProfile[ID].PIDweight[PITCH] = 100;
PidProfile[ID].PIDweight[YAW] = 100;
PidProfile[ID].pidEnabled = false; PidProfile[ID].pidEnabled = false;
break; break;
case PID_ID_BAROMETER: case PID_ID_BAROMETER:
PidProfile[ID].PIDweight[ROLL] = 100;
PidProfile[ID].PIDweight[PITCH] = 100;
PidProfile[ID].PIDweight[YAW] = 100;
PidProfile[ID].pidEnabled = false; PidProfile[ID].pidEnabled = false;
break; break;
@ -560,3 +571,12 @@ void pidInit()
pidUAVInit(&PidProfile[PID_ID_BAROMETER], PID_ID_BAROMETER); pidUAVInit(&PidProfile[PID_ID_BAROMETER], PID_ID_BAROMETER);
pidUAVInit(&PidProfile[PID_ID_COMPASS], PID_ID_COMPASS); 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;
}

4
UAV-ControlSystem/src/main.c
View File

@ -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 */ /* read saved variables from eeprom, in most cases eeprom should be read after a lot of the initializes */
readEEPROM(); readEEPROM();
pidEproom();
//initialize the CLI NOTE: Cant use the same usart as anything else or there will be some big trouble //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 //init sbus, using USART1
sbus_init(); sbus_init();