Test: prefab PID

avem-labs · Sep 19, 2017 · ae12248 · ae12248
1 parent 2a77b60
commit ae12248
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Showing 2 changed files with 5 additions and 8 deletions.
diff --git a/libs/module/avm_pid.c b/libs/module/avm_pid.c
@@ -16,9 +16,6 @@ pid_st avm_pid = {
  .InnerLast = 0,
  .OutterLast = 0,
  .Feedback = &g_Roll,
- .p = 0,
- .i = 0,
- .d = 0,
  .Channel1 = &MOTOR2,
  .Channel2 = &MOTOR4,
  .Gyro = &avm_euler.gX,

diff --git a/libs/module/avm_pid.h b/libs/module/avm_pid.h
@@ -1,13 +1,13 @@
 #ifndef _AVM_PID_H_
 #define _AVM_PID_H_
 
-#define OUTTER_LOOP_KP 0 //0.257 * 0.83 0.255
-#define OUTTER_LOOP_KI 0
-#define OUTTER_LOOP_KD 0
+#define OUTTER_LOOP_KP 3 //0.257 * 0.83 0.255
+#define OUTTER_LOOP_KI 1
+#define OUTTER_LOOP_KD 0.3f
 
-#define INNER_LOOP_KP 0.03f
+#define INNER_LOOP_KP 1
 #define INNER_LOOP_KI 0
-#define INNER_LOOP_KD 0
+#define INNER_LOOP_KD 0.3f
 
 #define SUM_ERRO_MAX 900
 #define SUM_ERRO_MIN -900