Diff: RTOS-Setup/src/setup.cpp

Revision:

32:7a9be7761c46

Parent:

30:d9b988f8d84f

Child:

34:228d87c45151

--- a/RTOS-Setup/src/setup.cpp	Mon May 12 05:12:19 2014 +0000
+++ b/RTOS-Setup/src/setup.cpp	Mon May 12 13:20:06 2014 +0000
@@ -6,12 +6,16 @@
 
 float KP_PITCH_STABLE = 0.5;//0.8;    // 0.5;
 float KP_ROLL_STABLE = 0.5;//0.8;     // 0.5;
+
 float KP_YAW_RATE = 8.8;        // 8.5 for RATE MODE
-float KP_PITCH_RATE = 7.5;//7.6;      // 8.5 for RATE MODE
-float KP_ROLL_RATE = 7.5;//7.6;       // 8.5 for RATE MODE
+float KP_PITCH_RATE = 7.0;//7.6;      // 8.5 for RATE MODE
+float KP_ROLL_RATE = 7.0;//7.5;//7.6;       // 8.5 for RATE MODE
 
-float PID_TI_RATE = 0.0;
-float PID_TI_STABLE = 0.0;
+float TI_YAW_RATE = 8.0;//2.0;
+float TI_PITCH_RATE = 2.0;//2.0;
+float TI_ROLL_RATE = 2.0;//2.7;
+
+float PID_TI_STABLE = 1.0;
 
 #include "setup.h"
 #include "tasks.h"
@@ -27,9 +31,9 @@
 PID pitchPIDstable(KP_PITCH_STABLE, PID_TI_STABLE, 0.0, TASK2_MASTER_PERIOD/1000.0);
 PID rollPIDstable(KP_ROLL_STABLE, PID_TI_STABLE, 0.0, TASK2_MASTER_PERIOD/1000.0);
 
-PID yawPIDrate(KP_YAW_RATE, PID_TI_RATE, 0.0, TASK2_SLAVE_PERIOD/1000.0);
-PID pitchPIDrate(KP_PITCH_RATE, PID_TI_RATE, 0.0, TASK2_SLAVE_PERIOD/1000.0);
-PID rollPIDrate(KP_ROLL_RATE, PID_TI_RATE, 0.0, TASK2_SLAVE_PERIOD/1000.0);
+PID yawPIDrate(KP_YAW_RATE, 0, 0.0, TASK2_SLAVE_PERIOD/1000.0);
+PID pitchPIDrate(KP_PITCH_RATE, TI_PITCH_RATE, 0.0, TASK2_SLAVE_PERIOD/1000.0);
+PID rollPIDrate(KP_ROLL_RATE, TI_ROLL_RATE, 0.0, TASK2_SLAVE_PERIOD/1000.0);
 
 PwmOut ESC[4] = {p21, p22, p23, p24};