Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Setup/src/setup.cpp

Revision:
38:ef65533cca32
Parent:
35:6aada2e9ffb8
Child:
39:02782ad251db
--- a/RTOS-Setup/src/setup.cpp	Tue May 13 05:28:05 2014 +0000
+++ b/RTOS-Setup/src/setup.cpp	Tue May 13 13:05:03 2014 +0000
@@ -6,15 +6,15 @@
 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 = 7.0;//7.6;      // 8.5 for RATE MODE
-float KP_ROLL_RATE = 7.0;//7.5;//7.6;       // 8.5 for RATE MODE
+float KP_YAW_RATE = 8.5;        // 8.5 for RATE MODE
+float KP_PITCH_RATE = 7.2;//7.6;      // 8.5 for RATE MODE
+float KP_ROLL_RATE = 7.2;//7.5;//7.6;       // 8.5 for RATE MODE
 
 float TI_YAW_RATE = 0.0;//2.0;
 float TI_PITCH_RATE = 1.0;//2.0;
 float TI_ROLL_RATE = 1.0;//2.7;
 
-float PID_TI_STABLE = 1.0;
+float PID_TI_STABLE = 0.0;//1.0;
 
 #include "setup.h"
 #include "tasks.h"
@@ -92,7 +92,10 @@
         ESC[i].period_us(ESC_PERIOD_US);
 
     for (int i = 0; i < 4; i++)
-        ESC[i].pulsewidth_us(0);
+        ESC[i].pulsewidth_us(1000);
+    
+    for (int i = 0; i < 4; i++)
+        ESCpower[i] = 990;
 
     armed = false;