Prof Greg Egan
/
UAVXArm-GKE
UAVX Multicopter Flight Controller.
Diff: params.c
- Revision:
- 1:1e3318a30ddd
- Parent:
- 0:62a1c91a859a
- Child:
- 2:90292f8bd179
diff -r 62a1c91a859a -r 1e3318a30ddd params.c --- a/params.c Fri Feb 18 22:28:05 2011 +0000 +++ b/params.c Fri Feb 25 01:35:24 2011 +0000 @@ -55,24 +55,26 @@ void Legacy(void) { static uint8 p; + + for ( p = 0; p <MAX_PARAMETERS; p++ ) // brute force K[p] = (float)P[p]; // Rate Control - K[RollKp] *= 2.6; - K[RollKi] *= 20.7; - K[RollKd] = -K[RollKd] * 0.021; + K[RollKp] *= 2.6 * MAGIC; + K[RollKi] *= 20.7 * MAGIC; + K[RollKd] = -K[RollKd] * 0.021 * MAGIC; K[RollIntLimit] *= DEGRAD; - K[PitchKp] *= 2.6; - K[PitchKi] *= 20.7; - K[PitchKd] = -K[PitchKd] * 0.021; + K[PitchKp] *= 2.6 * MAGIC; + K[PitchKi] *= 20.7 * MAGIC; + K[PitchKd] = -K[PitchKd] * 0.021 * MAGIC; K[PitchIntLimit] *= DEGRAD; - K[YawKp] *= 2.6; - K[YawKi] *= 41.4; - K[YawKd] = -K[YawKd] * 0.0004; + K[YawKp] *= 2.6 * MAGIC; + K[YawKi] *= 41.4 * MAGIC; + K[YawKd] = -K[YawKd] * 0.0004 * MAGIC; // Angle Control