Diff: global.cpp

Revision:

94:579e875a4244

Parent:

93:b827f78a717a

Child:

96:3645f8f9bdd3

--- a/global.cpp	Fri Oct 29 13:30:24 2021 +0000
+++ b/global.cpp	Mon Nov 01 09:18:07 2021 +0000
@@ -16,13 +16,14 @@
 LPS lps(i2c);
 
 // control
+Timer _t;
 FastPWM servoRight(PE_9);
 FastPWM servoLeft(PE_11);
 FastPWM servoThrust(PE_13);
 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
+PID rollratePID(0.05f, 0.0, 0.0, PID_dt);//rad/s
 solaESKF eskf; // ESKF class
 int obsCount = 0;
 
@@ -63,7 +64,7 @@
 float accMin[3] = {-0.963692, -0.974141, -1.012899};
 float accMax[3] = { 1.025954, 0.974748, 0.987155};
 
-Vector3 rpy_align( 8.742834f*M_PI/180.0f, -0.228718f*M_PI/180.0f, 0.0f*M_PI/180.0f);
+Vector3 rpy_align( 0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f);
 
 
 // UsaPack
@@ -71,7 +72,7 @@
 sendPack sp;
 
 // HIL
-bool hilFlag = false;
+bool hilFlag = true;
 bool serialControlSource = false;
 bool serialParamSource = false;
 int checkParamSerial[5] = {0,0,0,0,0};