Diff: global.cpp

Revision:

74:f67062e7813e

Parent:

73:84ffa0166e6c

Child:

75:a505b9896da1

--- a/global.cpp	Thu Jul 15 05:26:15 2021 +0000
+++ b/global.cpp	Tue Jul 20 05:52:29 2021 +0000
@@ -21,10 +21,10 @@
 FastPWM servoRight(PE_9);
 FastPWM servoLeft(PE_11);
 FastPWM servoThrust(PE_13);
-PID pitchPID(20.0f*0.6f,20.0f*1.2f/2.0f,0.0,PID_dt); //rad
-PID pitchratePID(0.075f*20.0f*2.0f, 0.0, 0.0, PID_dt);//rad/s
-PID rollPID(6.0f*0.6f,6.0f*1.2f/1.0f,0.0,PID_dt);
-PID rollratePID(0.075f*6.0f*1.0f, 0.0, 0.0, PID_dt);//rad/s
+PID pitchPID(10.0f,0.0f,0.0f,PID_dt); //rad
+PID pitchratePID(1.0f, 0.0f, 0.0f, PID_dt);//rad/s
+PID rollPID(5.0f,0.0f,0.0f,PID_dt);
+PID rollratePID(0.5f, 0.0, 0.0, PID_dt);//rad/s
 errStateEKF ekf; // EKF class
 
 float rc[16];
@@ -69,7 +69,7 @@
 valuePack vp;
 
 // HIL
-bool hilFlag = true;
+bool hilFlag = false;
 
 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
 {