Revision 5:0f4204941604, committed 2018-07-13

Comitter:

Anaesthetix

Date:

Fri Jul 13 14:27:30 2018 +0000

Parent:

4:fab65ad01ab4

Child:

6:033ad7377fee

Commit message:

Yaw PID added

Changed in this revision

--- a/Madgwick/MadgwickAHRS.cpp	Thu Jul 12 13:53:55 2018 +0000
+++ b/Madgwick/MadgwickAHRS.cpp	Fri Jul 13 14:27:30 2018 +0000
@@ -35,7 +35,8 @@
 //-------------------------------------------------------------------------------------------
 // AHRS algorithm update
 
-Madgwick::Madgwick() {
+Madgwick::Madgwick()
+{
     beta = betaDef;
     q0 = 1.0f;
     q1 = 0.0f;
@@ -45,7 +46,8 @@
     anglesComputed = 0;
 }
 
-void Madgwick::update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) {
+void Madgwick::update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
+{
     float recipNorm;
     float s0, s1, s2, s3;
     float qDot1, qDot2, qDot3, qDot4;
@@ -105,37 +107,37 @@
         q2q2 = q2 * q2;
         q2q3 = q2 * q3;
         q3q3 = q3 * q3;
-/*
+        /*
+                // Reference direction of Earth's magnetic field
+                hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3;
+                hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3;
+                _2bx = sqrtf(hx * hx + hy * hy);
+                _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3;
+                _4bx = 2.0f * _2bx;
+                _4bz = 2.0f * _2bz;
+
+                // Gradient decent algorithm corrective step
+                s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - _2bz * q2 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q3 + _2bz * q1) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q2 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
+                s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + _2bz * q3 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q2 + _2bz * q0) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q3 - _4bz * q1) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
+                s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + (-_4bx * q2 - _2bz * q0) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q1 + _2bz * q3) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q0 - _4bz * q2) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
+                s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + (-_4bx * q3 + _2bz * q1) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q0 + _2bz * q2) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q1 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
+                */
         // Reference direction of Earth's magnetic field
         hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3;
         hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3;
-        _2bx = sqrtf(hx * hx + hy * hy);
+        _2bx = sqrt(hx * hx + hy * hy);
         _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3;
         _4bx = 2.0f * _2bx;
         _4bz = 2.0f * _2bz;
+        _8bx = 2.0f * _4bx;
+        _8bz = 2.0f * _4bz;
 
         // Gradient decent algorithm corrective step
-        s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - _2bz * q2 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q3 + _2bz * q1) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q2 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
-        s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + _2bz * q3 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q2 + _2bz * q0) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q3 - _4bz * q1) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
-        s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + (-_4bx * q2 - _2bz * q0) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q1 + _2bz * q3) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q0 - _4bz * q2) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
-        s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + (-_4bx * q3 + _2bz * q1) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q0 + _2bz * q2) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q1 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
-        */
-				// Reference direction of Earth's magnetic field
-				hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3;
-				hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3;
-				_2bx = sqrt(hx * hx + hy * hy);
-				_2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3;
-				_4bx = 2.0f * _2bx;
-				_4bz = 2.0f * _2bz;
-				_8bx = 2.0f * _4bx;
-				_8bz = 2.0f * _4bz;
-
-				// Gradient decent algorithm corrective step
-				s0= -_2q2*(2.0f*(q1q3 - q0q2) - ax)    +   _2q1*(2.0f*(q0q1 + q2q3) - ay)   +  -_4bz*q2*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)   +   (-_4bx*q3+_4bz*q1)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)    +   _4bx*q2*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
-				s1= _2q3*(2.0f*(q1q3 - q0q2) - ax) +   _2q0*(2.0f*(q0q1 + q2q3) - ay) +   -4.0f*q1*(2.0f*(0.5 - q1q1 - q2q2) - az)    +   _4bz*q3*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)   + (_4bx*q2+_4bz*q0)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)   +   (_4bx*q3-_8bz*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);             
-				s2= -_2q0*(2.0f*(q1q3 - q0q2) - ax)    +     _2q3*(2.0f*(q0q1 + q2q3) - ay)   +   (-4.0f*q2)*(2.0f*(0.5 - q1q1 - q2q2) - az) +   (-_8bx*q2-_4bz*q0)*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(_4bx*q1+_4bz*q3)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q0-_8bz*q2)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
-				s3= _2q1*(2.0f*(q1q3 - q0q2) - ax) +   _2q2*(2.0f*(q0q1 + q2q3) - ay)+(-_8bx*q3+_4bz*q1)*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(-_4bx*q0+_4bz*q2)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
-				recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude
+        s0= -_2q2*(2.0f*(q1q3 - q0q2) - ax)    +   _2q1*(2.0f*(q0q1 + q2q3) - ay)   +  -_4bz*q2*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)   +   (-_4bx*q3+_4bz*q1)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)    +   _4bx*q2*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
+        s1= _2q3*(2.0f*(q1q3 - q0q2) - ax) +   _2q0*(2.0f*(q0q1 + q2q3) - ay) +   -4.0f*q1*(2.0f*(0.5 - q1q1 - q2q2) - az)    +   _4bz*q3*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)   + (_4bx*q2+_4bz*q0)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)   +   (_4bx*q3-_8bz*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
+        s2= -_2q0*(2.0f*(q1q3 - q0q2) - ax)    +     _2q3*(2.0f*(q0q1 + q2q3) - ay)   +   (-4.0f*q2)*(2.0f*(0.5 - q1q1 - q2q2) - az) +   (-_8bx*q2-_4bz*q0)*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(_4bx*q1+_4bz*q3)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q0-_8bz*q2)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
+        s3= _2q1*(2.0f*(q1q3 - q0q2) - ax) +   _2q2*(2.0f*(q0q1 + q2q3) - ay)+(-_8bx*q3+_4bz*q1)*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(-_4bx*q0+_4bz*q2)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
+        recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude
         s0 *= recipNorm;
         s1 *= recipNorm;
         s2 *= recipNorm;
@@ -166,7 +168,8 @@
 //-------------------------------------------------------------------------------------------
 // IMU algorithm update
 
-void Madgwick::updateIMU(float gx, float gy, float gz, float ax, float ay, float az) {
+void Madgwick::updateIMU(float gx, float gy, float gz, float ax, float ay, float az)
+{
     float recipNorm;
     float s0, s1, s2, s3;
     float qDot1, qDot2, qDot3, qDot4;
@@ -253,7 +256,7 @@
     y = y * (1.5f - (halfx * y * y));
     y = y * (1.5f - (halfx * y * y));
     return y;
-} 
+}
 
 float Madgwick::invSqrt(float x){
    unsigned int i = 0x5F1F1412 - (*(unsigned int*)&x >> 1);
@@ -261,9 +264,10 @@
    return tmp * (1.69000231f - 0.714158168f * x * tmp * tmp);
 }
 */
-float Madgwick::invSqrt(float x) {
-		float tmp = 1/(sqrt(x));
-		return tmp;
+float Madgwick::invSqrt(float x)
+{
+    float tmp = 1/(sqrt(x));
+    return tmp;
 }
 
 //-------------------------------------------------------------------------------------------

--- a/calccomp.h	Thu Jul 12 13:53:55 2018 +0000
+++ b/calccomp.h	Fri Jul 13 14:27:30 2018 +0000
@@ -1,10 +1,12 @@
-// Coded by Erik van de Coevering
+// Coded by: Erik van de Coevering
+
+// Axis are mixed up, will fix soon.
 
 #include "mbed.h"
 
 DigitalOut led1(LED1); // for stick arming (leds are active low)
+extern float Kp, Ki, Kd;
 
-extern float Kp, Ki, Kd;
 
 void calccomp(int* ctrl, float* angles, int* motor) //ctrl: 0-rud 1-elev 2-throttle 3-aileron      angles: 0-ax 1-ay 2-az 3-gx 4-gy 5-gz
 {
@@ -28,7 +30,9 @@
     static bool armed = false;
     float xcntrl = 0;
     float ycntrl = 0;
-    float KPx, KPy, KIx, KIy, KDx, KDy;
+    float KPx, KPy, KIx, KIy, KDx, KDy, KPz, KIz, KDz;
+    float error_z = 0;
+    float error_z1 = 0;
 
     //Scale rx channels
     rud = (((float)(ctrl[0] - ruddercenter))/2.5);
@@ -45,7 +49,7 @@
     m3 = throttle;
     m4 = throttle;
 
-    // Current values used on a 250 size mini racer (still needs tuning): P: 1.45, I: 1.5, D: 0.34
+    // Current values used on a 250 size mini racer (still needs tuning): P: 1.9, I: 2.4, D: 0.45
     // Calc PID values and prevent integral windup on KIx
     KPx = (angles[0] - xcntrl) * Kp;
     KIx = KIx + ((angles[0] - xcntrl) * Ki * 0.001);
@@ -64,12 +68,12 @@
     m4 = m4 - xcomp2;
 
     // Calc PID values and prevent integral windup on KIy
-    KPy = (angles[1] + ycntrl) * Kp;
-    KIy = KIy + ((angles[1] + ycntrl) * Ki * 0.001);
+    KPy = (angles[1] + ycntrl) * Kp * 0.8f;
+    KIy = KIy + ((angles[1] + ycntrl) * Ki * 0.8f * 0.001);
 
     if(KIy > 50) KIy = 50;
     if(KIy < -50) KIy = -50;
-    KDy = (angles[4] + (angles[1] + ycntrl)) * Kd;
+    KDy = (angles[4] + (angles[1] + ycntrl)) * Kd * 0.8f;
 
     ycomp = KPy + KIy + KDy;
     ycomp = ycomp*-1;
@@ -81,10 +85,19 @@
     m4 = m4 - ycomp;
 
 
-    //Calc rudder compensation and mix
-    ruddercomp = (rud + (angles[5]*1.0f));  //has drift
-    zcomp = ruddercomp*-1;
-    //zcomp = 0;
+    //Yaw PID gains hardcoded for now
+    error_z = angles[5] + rud;
+
+    KPz = error_z * 1.5f;
+    KIz = KIz + (error_z * 0.001f);
+
+    if(KIz > 50) KIz = 50;
+    if(KIz < -50) KIz = -50;
+
+    KDz = (error_z - error_z1) * 0.3f;
+    error_z1 = error_z;
+
+    zcomp = (KPz + KIz + KDz) * -1.0f;
 
     //Mix rudder
     m1 = m1 - zcomp;

--- a/main.cpp	Thu Jul 12 13:53:55 2018 +0000
+++ b/main.cpp	Fri Jul 13 14:27:30 2018 +0000
@@ -1,4 +1,4 @@
-// Coded by Erik van de Coevering 
+// Coded by Erik van de Coevering
 
 #include "mbed.h"
 #include "MadgwickAHRS.h"
@@ -57,291 +57,295 @@
 
 char mcommand;
 
-void rx0() {
-	trx0.start();
+void rx0()
+{
+    trx0.start();
 }
 
-void rx1() {
-	trx1.start();
-	trx0.stop();
-	if(trx0.read_us() > 900 && trx0.read_us() < 2200) rx_data[0] = trx0.read_us();
-	trx0.reset();
+void rx1()
+{
+    trx1.start();
+    trx0.stop();
+    if(trx0.read_us() > 900 && trx0.read_us() < 2200) rx_data[0] = trx0.read_us();
+    trx0.reset();
 }
 
-void rx2() {
-	trx2.start();
-	trx1.stop();
-	if(trx1.read_us() > 900 && trx1.read_us() < 2200) rx_data[1] = trx1.read_us();
-	trx1.reset();
+void rx2()
+{
+    trx2.start();
+    trx1.stop();
+    if(trx1.read_us() > 900 && trx1.read_us() < 2200) rx_data[1] = trx1.read_us();
+    trx1.reset();
 }
 
-void rx3() {
-	trx3.start();
-	trx2.stop();
-	if(trx2.read_us() > 900 && trx2.read_us() < 2200) rx_data[2] = trx2.read_us();
-	trx2.reset();
+void rx3()
+{
+    trx3.start();
+    trx2.stop();
+    if(trx2.read_us() > 900 && trx2.read_us() < 2200) rx_data[2] = trx2.read_us();
+    trx2.reset();
 }
 
-void rx4() {
-	trx4.start();
-	trx3.stop();
-	if(trx3.read_us() > 900 && trx3.read_us() < 2200) rx_data[3] = trx3.read_us();
-	trx3.reset();
+void rx4()
+{
+    trx4.start();
+    trx3.stop();
+    if(trx3.read_us() > 900 && trx3.read_us() < 2200) rx_data[3] = trx3.read_us();
+    trx3.reset();
 }
 
-void rx5() {
-	trx5.start();
-	trx4.stop();
-	if(trx4.read_us() > 900 && trx4.read_us() < 2200) rx_data[4] = trx4.read_us();
-	trx4.reset();
+void rx5()
+{
+    trx5.start();
+    trx4.stop();
+    if(trx4.read_us() > 900 && trx4.read_us() < 2200) rx_data[4] = trx4.read_us();
+    trx4.reset();
 }
 
-void rx6() {
-	trx5.stop();
-	if(trx5.read_us() > 900 && trx5.read_us() < 2200) rx_data[5] = trx5.read_us();
-	trx5.reset();
-	rxd = true;
+void rx6()
+{
+    trx5.stop();
+    if(trx5.read_us() > 900 && trx5.read_us() < 2200) rx_data[5] = trx5.read_us();
+    trx5.reset();
+    rxd = true;
 }
 
 
 int main()
 {
-	ch_sw = 1;
-	led1 = 1;
-	led2 = 0;
-	pc1->baud(230400);
-	pc1->setTimeout(1);
-	pc.baud(230400);
-	spi.frequency(4000000);
-	
-	
-	//IAP variables
-	char* addr = sector_start_adress[TARGET_SECTOR];
-	char  mem[ MEM_SIZE ];    //  memory, it should be aligned to word boundary
-	char 	PIDsetup = 0;
-	int		r;
-	int 	tempval;
-	
-	//IMU variables
-	float angles[6] = {0};
-  float time = 0;
-	float samplef = 0;
-	float gyrodata[3] = {0};
-	float acceldata[3] = {0};
-	float angles_temp[2] = {0};
-	float roll, pitch;
-	float tempcomp[6] = {0};
-	float temp = 0;
-	float temp2 = 0;
-	float temp3 = 0;
-	bool exit = true;
-	float noise = 0;
-	int count = 0;
-		
-		    //Rx variables
-	int motor[4] = {0};
-		
-		// Init pwm
-	motor1.period_ms(10);
-  motor1.pulsewidth_us(1000);
-  motor2.pulsewidth_us(1000);
-  motor3.pulsewidth_us(1000);
-  motor4.pulsewidth_us(1000);
-	
-	filter.begin(1500);
-	
-	pc.putc('c');
-	PIDsetup = pc1->getc();
-	if(PIDsetup == 'c') {
-		while(1) {
-			PIDsetup = pc1->getc();
-			if(PIDsetup == 'R') {
-            for(int i=0; i<6; i++) {
-                pc1->putc(addr[i]);
-                wait_ms(1);
+    ch_sw = 1;
+    led1 = 1;
+    led2 = 0;
+    pc1->baud(230400);
+    pc1->setTimeout(1);
+    pc.baud(230400);
+    spi.frequency(4000000);
+
+
+    //IAP variables
+    char* addr = sector_start_adress[TARGET_SECTOR];
+    char  mem[ MEM_SIZE ];    //  memory, it should be aligned to word boundary
+    char 	PIDsetup = 0;
+    int		r;
+    int 	tempval;
+
+    //IMU variables
+    float angles[6] = {0};
+    float time = 0;
+    float samplef = 0;
+    float gyrodata[3] = {0};
+    float acceldata[3] = {0};
+    float angles_temp[2] = {0};
+    float roll, pitch;
+    float tempcomp[6] = {0};
+    float temp = 0;
+    float temp2 = 0;
+    float temp3 = 0;
+    bool exit = true;
+    float noise = 0;
+    int count = 0;
+
+    //Rx variables
+    int motor[4] = {0};
+
+    // Init pwm
+    motor1.period_ms(10);
+    motor1.pulsewidth_us(1000);
+    motor2.pulsewidth_us(1000);
+    motor3.pulsewidth_us(1000);
+    motor4.pulsewidth_us(1000);
+
+    filter.begin(1500);
+
+    pc.putc('c');
+    PIDsetup = pc1->getc();
+    if(PIDsetup == 'c') {
+        while(1) {
+            PIDsetup = pc1->getc();
+            if(PIDsetup == 'R') {
+                for(int i=0; i<6; i++) {
+                    pc1->putc(addr[i]);
+                    wait_ms(1);
+                }
+            }
+
+            if(PIDsetup == 'W') {
+                for(int i=0; i<6; i++) {
+                    mem[i] = pc1->getc();
+                }
+                iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
+                r   = iap.erase( TARGET_SECTOR, TARGET_SECTOR );
+                iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
+                r   = iap.write( mem, sector_start_adress[ TARGET_SECTOR ], MEM_SIZE );
+            }
+        }
+    }
+
+
+    if(PIDsetup == 'W') {
+        mpu9250.init2(1,BITS_DLPF_CFG_188HZ);
+        pc1->setTimeout(0.01);
+
+        rx_rud.rise(&rx0);
+        rx_elev.rise(&rx1);
+        rx_thr.rise(&rx2);
+        rx_ail.rise(&rx3);
+        rx_p1.rise(&rx4);
+        rx_p2.rise(&rx5);
+        rx_p2.fall(&rx6);
+        mcommand = 'a';
+
+        while(exit) {
+            wait_ms(1);
+            if(mcommand == '5') {
+                motor1.pulsewidth_us(rx_data[2] - 20);
+                motor2.pulsewidth_us(1000);
+                motor3.pulsewidth_us(1000);
+                motor4.pulsewidth_us(1000);
+            } else if(mcommand == '6') {
+                motor1.pulsewidth_us(1000);
+                motor2.pulsewidth_us(rx_data[2] - 20);
+                motor3.pulsewidth_us(1000);
+                motor4.pulsewidth_us(1000);
+            } else if(mcommand == '3') {
+                motor1.pulsewidth_us(1000);
+                motor2.pulsewidth_us(1000);
+                motor3.pulsewidth_us(rx_data[2] - 20);
+                motor4.pulsewidth_us(1000);
+            } else if(mcommand == '4') {
+                motor1.pulsewidth_us(1000);
+                motor2.pulsewidth_us(1000);
+                motor3.pulsewidth_us(1000);
+                motor4.pulsewidth_us(rx_data[2] - 20);
+            }
+            if(mcommand == 'E') exit = 0;
+
+            if(rxd) {
+                led2 = !led2;
+                rxd = false;
             }
+
+            mpu9250.read_all();
+            if(mpu9250.accelerometer_data[0] >= 0) noise = noise*0.99 + 0.01*mpu9250.accelerometer_data[0];
+
+            if(count>100) {
+                count = 0;
+                pc.printf("%.2f\n", noise);
+                mcommand = pc1->getc();
+            }
+            count++;
+        }
+    }
+
+    tempval = addr[0];
+    tempval = tempval + (addr[1] << 8);
+    Kp = ((float)tempval) / 100;
+    tempval = addr[2];
+    tempval = tempval + (addr[3] << 8);
+    Ki = ((float)tempval) / 100;
+    tempval = addr[4];
+    tempval = tempval + (addr[5] << 8);
+    Kd = ((float)tempval) / 100;
+
+    mpu9250.init(1,BITS_DLPF_CFG_188HZ);
+
+    pc.printf("%.2f		%.2f		%.2f\r\n", Kp, Ki, Kd);
+
+    rx_rud.rise(&rx0);
+    rx_elev.rise(&rx1);
+    rx_thr.rise(&rx2);
+    rx_ail.rise(&rx3);
+    rx_p1.rise(&rx4);
+    rx_p2.rise(&rx5);
+    rx_p2.fall(&rx6);
+
+    t.start();
+
+    while(1) {
+        print.start();
+        t.stop();
+        time = (float)t.read();
+        t.reset();
+        t.start();
+        filter.invSampleFreq = time;
+        samplef = 1/time;
+
+        mpu9250.read_all();
+        if(mpu9250.Temperature < 6.0f) temp = 6.0f;
+        else if(mpu9250.Temperature > 60.0f) temp = 60.0f;
+        else temp = mpu9250.Temperature;
+        temp2 = temp*temp;
+        temp3 = temp2*temp;
+
+        // Temperature compensation
+        // Derived from datalogging gyro data over a wide temperature range and using the fitting tool in Matlab's plotter
+        tempcomp[0] = -1.77e-6*temp2 + 0.000233*temp + 0.02179;
+        tempcomp[1] = 0.0005727*temp - 0.01488;
+        tempcomp[2] = -2.181e-7*temp3 + 1.754e-5*temp2 - 0.0004955*temp;
+        tempcomp[3] = -0.0002814*temp2 + 0.005545*temp - 3.018;
+        tempcomp[4] = -3.011e-5*temp3 + 0.002823*temp2 - 0.1073*temp + 3.618;
+        tempcomp[5] = 9.364e-5*temp2 + 0.009138*temp - 0.8939;
+
+        // Low pass filters on accelerometer data (calculated with the help of Matlab's FDAtool)
+        acceldata[0] = lp1.run(mpu9250.accelerometer_data[0] - tempcomp[0]);
+        acceldata[1] = lp2.run(mpu9250.accelerometer_data[1] - tempcomp[1]);
+        acceldata[2] = lp3.run((mpu9250.accelerometer_data[2] - tempcomp[2])*-1);
+
+        // 10-term moving average to remove some noise
+        gyrodata[0] = maGX.run((mpu9250.gyroscope_data[0] - tempcomp[3])*-1);
+        gyrodata[1] = maGY.run((mpu9250.gyroscope_data[1] - tempcomp[4])*-1);
+        gyrodata[2] = maGZ.run((mpu9250.gyroscope_data[2] - tempcomp[5])*-1);
+
+        // Madgwick's quaternion algorithm
+        filter.updateIMU(gyrodata[0], gyrodata[1], gyrodata[2], acceldata[0],
+                         acceldata[1], acceldata[2]);
+
+        roll = filter.getRoll();
+        pitch = filter.getPitch();
+
+        angles[3] = gyrodata[1];
+        angles[4] = gyrodata[0];
+        angles[5] = gyrodata[2];
+
+        //Simple first order complementary filter -> TODO: CHECK STEP RESPONSE
+        angles[0] = 0.99f*(angles[0] + (gyrodata[1]*time)) + 0.01f*pitch;
+        angles[1] = 0.99f*(angles[1] + (gyrodata[0]*time)) + 0.01f*roll;
+
+        // If [VAR] is NaN use previous value
+        if(angles[0] != angles[0]) angles[0] = angles_temp[0];
+        if(angles[1] != angles[1]) angles[1] = angles_temp[1];
+        if(angles[0] == angles[0]) angles_temp[0] = angles[0];
+        if(angles[1] == angles[1]) angles_temp[1] = angles[1];
+
+        tijd.stop();
+        tijd.reset();
+        tijd.start();
+
+        /*
+        		if(print.read_ms() > 100) {
+        			print.stop();
+        			print.reset();
+        			print.start();
+        			//led2 = !led2;
+        		//	pc.printf("X: %.2f		Y: %.2f		%.0f\r\n", angles[0], angles[1], samplef);
+        			pc.printf("%.2f		%.0f\r\n", angles[1], samplef);
+        		}
+        		*/
+        pc.printf("%.2f		%.0f\r\n", angles[0], samplef);
+        if(rxd) {
+            led2 = !led2;
+            rxd = false;
+            //				pc.printf("%d		%d		%d		%d\r\n", motor[0], motor[1], motor[2], motor[3]);
         }
 
-        if(PIDsetup == 'W') {
-            for(int i=0; i<6; i++) {
-                mem[i] = pc1->getc();
-            }
-            iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
-            r   = iap.erase( TARGET_SECTOR, TARGET_SECTOR );
-            iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
-            r   = iap.write( mem, sector_start_adress[ TARGET_SECTOR ], MEM_SIZE );
-        }
-			}
-		}
-	
-	
-		if(PIDsetup == 'W') {
-			mpu9250.init2(1,BITS_DLPF_CFG_188HZ);
-			pc1->setTimeout(0.01);
-			
-			rx_rud.rise(&rx0);
-			rx_elev.rise(&rx1);
-			rx_thr.rise(&rx2);
-			rx_ail.rise(&rx3);
-			rx_p1.rise(&rx4);
-			rx_p2.rise(&rx5);
-			rx_p2.fall(&rx6);
-			mcommand = 'a';
-			
-			while(exit) {
-				wait_ms(1);
-				if(mcommand == '5') {
-					motor1.pulsewidth_us(rx_data[2] - 20);
-					motor2.pulsewidth_us(1000);
-					motor3.pulsewidth_us(1000);
-					motor4.pulsewidth_us(1000);
-				}
-				else if(mcommand == '6') {
-					motor1.pulsewidth_us(1000);
-					motor2.pulsewidth_us(rx_data[2] - 20);
-					motor3.pulsewidth_us(1000);
-					motor4.pulsewidth_us(1000);
-				}
-				else if(mcommand == '3') {
-					motor1.pulsewidth_us(1000);
-					motor2.pulsewidth_us(1000);
-					motor3.pulsewidth_us(rx_data[2] - 20);
-					motor4.pulsewidth_us(1000);
-				}
-				else if(mcommand == '4') {
-					motor1.pulsewidth_us(1000);
-					motor2.pulsewidth_us(1000);
-					motor3.pulsewidth_us(1000);
-					motor4.pulsewidth_us(rx_data[2] - 20);
-				}
-				if(mcommand == 'E') exit = 0;
-				
-				if(rxd) {
-					led2 = !led2;
-					rxd = false;
-				}
-				
-				mpu9250.read_all();
-				if(mpu9250.accelerometer_data[0] >= 0) noise = noise*0.99 + 0.01*mpu9250.accelerometer_data[0];
-				
-				if(count>100) {
-					count = 0;
-					pc.printf("%.2f\n", noise);
-					mcommand = pc1->getc();
-				}
-				count++;
-			}
-		}
-		
-	tempval = addr[0];
-    tempval = tempval + (addr[1] << 8);
-    Kp = ((float)tempval) / 100;
-	tempval = addr[2];
-    tempval = tempval + (addr[3] << 8);
-    Ki = ((float)tempval) / 100;
-	tempval = addr[4];
-    tempval = tempval + (addr[5] << 8);
-    Kd = ((float)tempval) / 100;
-		
-		mpu9250.init(1,BITS_DLPF_CFG_188HZ);
-		
-		pc.printf("%.2f		%.2f		%.2f\r\n", Kp, Ki, Kd);
-		
-		rx_rud.rise(&rx0);
-		rx_elev.rise(&rx1);
-		rx_thr.rise(&rx2);
-		rx_ail.rise(&rx3);
-		rx_p1.rise(&rx4);
-		rx_p2.rise(&rx5);
-		rx_p2.fall(&rx6);
-		
-		t.start();
-		
-    while(1) {
-				print.start();
-				t.stop();
-				time = (float)t.read();
-				t.reset();
-				t.start();
-				filter.invSampleFreq = time;
-				samplef = 1/time;
-			
-				mpu9250.read_all();
-				if(mpu9250.Temperature < 6.0f) temp = 6.0f;
-				else if(mpu9250.Temperature > 60.0f) temp = 60.0f;
-				else temp = mpu9250.Temperature;
-				temp2 = temp*temp;
-				temp3 = temp2*temp;
-				
-				// Temperature compensation
-				// Derived from datalogging gyro data over a wide temperature range and using the fitting tool in Matlab's plotter
-				tempcomp[0] = -1.77e-6*temp2 + 0.000233*temp + 0.02179;
-				tempcomp[1] = 0.0005727*temp - 0.01488;
-				tempcomp[2] = -2.181e-7*temp3 + 1.754e-5*temp2 - 0.0004955*temp;
-				tempcomp[3] = -0.0002814*temp2 + 0.005545*temp - 3.018;
-				tempcomp[4] = -3.011e-5*temp3 + 0.002823*temp2 - 0.1073*temp + 3.618;
-				tempcomp[5] = 9.364e-5*temp2 + 0.009138*temp - 0.8939;
-			
-				// Low pass filters on accelerometer data (calculated with the help of Matlab's FDAtool)
-				acceldata[0] = lp1.run(mpu9250.accelerometer_data[0] - tempcomp[0]);
-				acceldata[1] = lp2.run(mpu9250.accelerometer_data[1] - tempcomp[1]);
-				acceldata[2] = lp3.run((mpu9250.accelerometer_data[2] - tempcomp[2])*-1);
-				
-				// 10-term moving average to remove some noise
-				gyrodata[0] = maGX.run((mpu9250.gyroscope_data[0] - tempcomp[3])*-1);
-				gyrodata[1] = maGY.run((mpu9250.gyroscope_data[1] - tempcomp[4])*-1);
-				gyrodata[2] = maGZ.run((mpu9250.gyroscope_data[2] - tempcomp[5])*-1);
-			
-				// Madgwick's quaternion algorithm
-				filter.updateIMU(gyrodata[0], gyrodata[1], gyrodata[2], acceldata[0],
-                                 acceldata[1], acceldata[2]);
-			
-				roll = filter.getRoll();
-				pitch = filter.getPitch();
-				
-				angles[3] = gyrodata[1];
-				angles[4] = gyrodata[0];
-				angles[5] = gyrodata[2];
-				
-				//Simple first order complementary filter -> TODO: CHECK STEP RESPONSE
-				angles[0] = 0.99f*(angles[0] + (gyrodata[1]*time)) + 0.01f*pitch;
-				angles[1] = 0.99f*(angles[1] + (gyrodata[0]*time)) + 0.01f*roll;
+        if(rx_data[5] > 1650) ch_sw = 0;
+        else ch_sw = 1;
+
+        calccomp(rx_data, angles, motor);
 
-				// If [VAR] is NaN use previous value
-				if(angles[0] != angles[0]) angles[0] = angles_temp[0];
-				if(angles[1] != angles[1]) angles[1] = angles_temp[1];
-				if(angles[0] == angles[0]) angles_temp[0] = angles[0];
-				if(angles[1] == angles[1]) angles_temp[1] = angles[1];
-				
-				tijd.stop();
-				tijd.reset();
-				tijd.start();
-				
-		/*		
-				if(print.read_ms() > 100) {
-					print.stop();
-					print.reset();
-					print.start();
-					//led2 = !led2;
-				//	pc.printf("X: %.2f		Y: %.2f		%.0f\r\n", angles[0], angles[1], samplef);
-					pc.printf("%.2f		%.0f\r\n", angles[1], samplef);
-				}
-				*/
-				pc.printf("%.2f		%.0f\r\n", angles[0], samplef);
-				if(rxd) {
-					led2 = !led2;
-					rxd = false;
-	//				pc.printf("%d		%d		%d		%d\r\n", motor[0], motor[1], motor[2], motor[3]);
-				}
-				
-				if(rx_data[5] > 1650) ch_sw = 0;
-				else ch_sw = 1;
-				
-				calccomp(rx_data, angles, motor);
-				
-				motor1.pulsewidth_us(motor[0]);
-				motor2.pulsewidth_us(motor[1]);
-				motor3.pulsewidth_us(motor[2]);
-				motor4.pulsewidth_us(motor[3]);
+        motor1.pulsewidth_us(motor[0]);
+        motor2.pulsewidth_us(motor[1]);
+        motor3.pulsewidth_us(motor[2]);
+        motor4.pulsewidth_us(motor[3]);
     }
 }