Diff: main.cpp

Revision:

7:337faf16a8d6

Parent:

6:9712c04e13bf

Child:

8:810396d34da8

diff -r 9712c04e13bf -r 337faf16a8d6 main.cpp
--- a/main.cpp	Sun Jan 15 22:11:22 2017 +0000
+++ b/main.cpp	Mon Jan 16 05:31:33 2017 +0000
@@ -284,9 +284,9 @@
         //PID coefficients
 
         static const float DT = 0.00125F;
-        static const float KP = 2.0F;
-        static const float KI = (0.0F*DT);
-        static const float KD = (0.0F/DT);
+        static const float KP = 3.0F;
+        static const float KI = (30.0F*DT);
+        static const float KD = (0.06F/DT);
         float setPoint = 0.0F;
         float loopCoeffs[] = {setPoint, K, KP, KI, KD, DT};
         
@@ -576,4 +576,5 @@
 float compFilter(float K, float pitch, float gyroX, float accY, float accZ, float DT)
 {
     return ((K * (pitch + (gyroX * DT))) + ((1.0F - K) * ((180.0F / 3.1459F) * atan(accY/accZ))));
+    //return ((K * (pitch + (gyroX * DT))) + ((1.0F - K) * accY));
 }