Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Setup/src/setup.cpp

Revision:
25:a7cfe421cb4a
Parent:
24:54a8cdf17378
Child:
27:18b6580eb0b1
--- a/RTOS-Setup/src/setup.cpp	Thu May 08 13:00:50 2014 +0000
+++ b/RTOS-Setup/src/setup.cpp	Thu May 08 13:35:13 2014 +0000
@@ -4,11 +4,11 @@
  * Purpose: Setup code to initialise all device
  */
 
-float KP_PITCH_STABLE = 0.5;
-float KP_ROLL_STABLE = 0.5;
-float KP_YAW_RATE = 8.5; // 8.5 for RATE MODE
-float KP_PITCH_RATE = 8.0; // 8.5 for RATE MODE
-float KP_ROLL_RATE = 8.0; // 8.5 for RATE MODE
+float KP_PITCH_STABLE = 0.8;    // 0.5;
+float KP_ROLL_STABLE = 0.8;     // 0.5;
+float KP_YAW_RATE = 8.8;        // 8.5 for RATE MODE
+float KP_PITCH_RATE = 7.6;      // 8.5 for RATE MODE
+float KP_ROLL_RATE = 7.6;       // 8.5 for RATE MODE
 
 float PID_TI_RATE = 0.0;
 float PID_TI_STABLE = 0.0;
@@ -42,6 +42,7 @@
 {
     bool error = false;
     box_demo = false;
+    mode = STABLE;
 
     if (!setup_ESC()) {
         imu.debugSerial.printf("ESC FAILED!!!\n");