Agra-GPS / FreePilot_V2-3

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Dependencies:   FreePilot PinDetect mbed-src

Fork of FreePilot_V2-2 by Agra-GPS

Diff: base/base.cpp

Revision:
42:854d8cc26bbb
Parent:
41:a26acd346c2f
Child:
46:d7d6dc429153
--- a/base/base.cpp	Fri Mar 06 21:19:23 2015 +0000
+++ b/base/base.cpp	Mon Mar 09 15:58:28 2015 +0000
@@ -4,7 +4,7 @@
 #include "base.h"
 #include "Config.h"
 
-int debug=1; //set to 0 to disable output to USB, set to 1 to output data to USB
+const int debug=1; //set to 0 to disable output to USB, set to 1 to output data to USB
 
 DigitalOut ledGREEN(p11);
 DigitalOut ledRED(p12);
@@ -25,16 +25,16 @@
 // GLOBAL VALUES ONLY=====================
 // values which are stored in config.txt         //
 int gyro_pos = 0;
-double antennaheight = 200;
+double antennaheight = 78.74;
 int _btMode = 0; // 0=Send Everything, 1 = No GPS, 2 = Receive only
 int antenna_active = 0;
 //Steering
-double lookaheadtime = 2;
-double scale = 1;
-double phaseadv = 50;
-double tcenter = 5;
-double fgain = 125;
-double avgpos = -4;
+double lookaheadtime = 4;
+double scale = 0.5;
+double phaseadv = 40;
+double tcenter = 4.6;
+double fgain = 22;
+double avgpos = 4;
 // in prevision of PID addition to FreePilot
 double kp = 3;
 double ki = 2;