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Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: servo.cpp
- Revision:
- 109:27ae949bc38e
- Parent:
- 108:e582f8bd4729
- Child:
- 111:00f991005d2d
diff -r e582f8bd4729 -r 27ae949bc38e servo.cpp
--- a/servo.cpp Tue Mar 08 04:06:35 2022 +0000
+++ b/servo.cpp Wed Mar 09 13:04:08 2022 +0000
@@ -60,6 +60,7 @@
//float gaincoef = 1.0f;
pitchPID.setGain(6.36f, 10.6f*0.0f,0.0);
pitchratePID.setGain(0.9540f,0.0f,0.0f);
+ yawratePID.setGain(2.0f,0.0f,0.0f);
pitchPID.setProcessValue(rpy.y);
pitchratePID.setProcessValue((gyro.y-gyroBias(2,1)));
yawratePID.setProcessValue(gyro.z-gyroBias(3,1));