Diff: Library/Library.h

Branch:

yuri

Revision:

8:1ad52489f6f3

Parent:

1:579511e9f0b8

--- a/Library/Library.h	Wed Oct 17 12:18:29 2018 +0000
+++ b/Library/Library.h	Fri Nov 30 19:23:29 2018 +0000
@@ -1,14 +1,14 @@
 #ifndef Library_h
 #define Library_h
 //Attitude Controller VARIABLES
-float const dt2 = 0.005f;
+float const dt_alti = 0.005f;
 // Controller gains and /or time constants
-float const Kp_phi = 3.63*1.96;
+float const Kp_phi = 200;
 float const Kp_theta = Kp_phi;
-float const Td_phi = 1.96;
+float const Td_phi = 30;
 float const Td_theta = Td_phi;
-float const Kp_psi = 2.57*0.81;
-float const Td_psi = 0.81;
+float const Kp_psi = 2.57*0.81*2.5*10;
+float const Td_psi = 0.81*10*1.2;
 // Quadcopter moments of inertia (kg.m ^2)
 float const I_xx = 16.0e-6f;
 float const I_yy = 16.0e-6f;
@@ -23,4 +23,16 @@
 const float kl = 2.69E-8;
 const float kd = 1.59E-10;
 const float l = 33E-3;
+const float m = 0.03f;
+const float g = 9.81f;
+//verrtical
+const float p_verti = 0.3f;
+const float dt_ver_pre=0.002f;
+const float dt_ver_cor=0.05f;
+const float dt_range=0.02f;
+
+//horizontal
+float kp_hori = 1.35f;
+float kd_hori = 2;
+
 # endif