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Dependencies: GPS2 L3GD20 LSM303DLHC2 PID mbed SDFileSystem
Fork of
GPSNavigation
by 
David Spillman
Diff: main.cpp
- Revision:
- 11:1b34319671eb
- Parent:
- 10:b6bf86de613f
- Child:
- 12:273479524c71
diff -r b6bf86de613f -r 1b34319671eb main.cpp --- a/main.cpp Mon Apr 27 16:56:49 2015 +0000 +++ b/main.cpp Mon Apr 27 18:10:52 2015 +0000 @@ -66,7 +66,7 @@ #include "TrollingMotor.h" #define VOLT_MULT (3.3f / (0.810f / (3.3f + 0.810f))) //voltage divider 3.3k and 810 (VREF = 3.3V) keeps 12V measurements below 3.3V -#define RATIO_TOLERANCE 0.02f +#define RATIO_TOLERANCE 0.02f //How close the difference between the set ratio and current ratio before consider #define MIN_RATIO 0.04f //Actuator hits retract limit swithc at 2.2% #define MAX_RATIO 0.85f //Actuator hits extend limit switch at 87.6% #define CENTER_RATIO 0.29f //Ratio where prop is centered @@ -78,7 +78,7 @@ #define GPS_POLL 0.5f #define GPS_ALPHA 0.3f //GPS low pass alpha -#define RATE 0.3f +#define RATE 0.3f //period of heading PID loop #define headKc 1.0f //directly proportional #define headTi 0.0f //a larger number makes the integral have less affect on the output #define headTd 0.0f //a smaller number makes the derivative have less affect on the output