philip/MDH-UAV-Control-System
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small things

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This commit is contained in:
Jonas Holmberg 2016-11-07 16:57:59 +01:00
parent 52241202b1
commit e09c69fbaa
3 changed files with 7 additions and 9 deletions
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2
UAV-ControlSystem/src/Flight/pid.c
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@ -558,8 +558,6 @@ void pidInit()
void pidEproom(void)
{
PidProfile[PID_ID_ACCELEROMETER].PIDweight[ROLL] = 2;
PidProfile[PID_ID_ACCELEROMETER].PIDweight[PITCH] = 2;
PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100;
PidProfileBuff[PID_ID_GYRO].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000; //<2F>NDRA TILL SEKUNDER inte ms

12
UAV-ControlSystem/src/config/cli.c
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@ -31,7 +31,7 @@
#define commandValueError 0xFFFFFFFFFFFFFFFF
#define minSimilarCharacters 2 //the minimum amount of characters needed to to a search on a value
#define maxSimilarSearchValues 15 //max amount of values that will be found when doing a search for similar strings based on the written chars
#define maxSimilarSearchValues 18 //max amount of values that will be found when doing a search for similar strings based on the written chars
#define CLI_baudRate 115200 //The baudrate used for the CLI usart
#define msgArraySize 3 //The number of words that a max command can contain (ex: set looptime 1000)
@ -121,11 +121,11 @@ const typeString commandActionInformation_Strings[ACTION_COUNT] = {
"| reboot - Exit CLI and reboots the system.\n\r",
"| reset - Restore all the values to its default values.\n\r",
"| stats - Gives some current stats of the system and tasks.\n\r",
"| calibrate_motors - Calibrates all motors.",
"| calibrate_gyro - Calibrates the gyro.",
"| calibrate_accelerometer - Calibrates the accelerometer.",
"| calibrate_compass - Calibrates the compass.",
"| calibration_info_accelerometer - Provides info on the accelerometer calibration."
"| calibrate_motors - Calibrates all motors.\n\r",
"| calibrate_gyro - Calibrates the gyro.\n\r",
"| calibrate_accelerometer - Calibrates the accelerometer.\n\r",
"| calibrate_compass - Calibrates the compass.\n\r",
"| calibration_info_accelerometer - Provides info on the accelerometer calibration.\n\r"
};
/* String array containing all the signature examples for each action */

2
UAV-ControlSystem/src/drivers/accel_gyro.c
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@ -526,7 +526,7 @@ bool mpu6000_who_am_i()
/* Set the Gyro Weight for Gyro/Acc complementary filter
Increasing this value would reduce and delay Acc influence on the output of the filter*/
#define GYRO_ACC_DIV_FACTOR (2^6) // that means a CMP_FACTOR of 1024 (2^10)
#define GYRO_ACC_DIV_FACTOR (2^8) // that means a CMP_FACTOR of 1024 (2^10)
#define GetMagnitude(x) (x*x)
#define Low_Magnitude (GetMagnitude(0.85))