philip/MDH-UAV-Control-System
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PID test flight baro

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This commit is contained in:
Jonas Holmberg 2016-11-10 10:31:26 +01:00
parent 38486e2bd3
commit ce6ca20b43
1 changed files with 3 additions and 1 deletions
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4
UAV-ControlSystem/src/Flight/pid.c
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@ -174,7 +174,7 @@ void getPointRate(float *desiredCommand, uint8_t ID_profile)
//desiredCommand[THROTTLE] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, rc_input.Throttle*throttleRate); //desiredCommand[THROTTLE] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, rc_input.Throttle*throttleRate);
desiredCommand[THROTTLE] = 1*20; desiredCommand[THROTTLE] = 3*20;
break; break;
default: default:
@ -349,6 +349,8 @@ 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], -(int)pidProfile->pid_out_limit, (int)pidProfile->pid_out_limit);
} }
break; break;