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Code Issues Wiki Activity

Revert new PID stuff and move it to a separate branch for now.

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This commit is contained in:
fiendie 2013-11-07 13:15:31 +01:00
parent 14f087a140
commit 6ab48fc438
11 changed files with 30 additions and 187 deletions
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15
src/config.c
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@ -118,7 +118,7 @@ retry:
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
if (FLASH_ErasePage(FLASH_WRITE_ADDR) == FLASH_COMPLETE && FLASH_ErasePage(FLASH_WRITE_ADDR + FLASH_PAGE_SIZE) == FLASH_COMPLETE) {
if (FLASH_ErasePage(FLASH_WRITE_ADDR) == FLASH_COMPLETE) {
for (i = 0; i < sizeof(master_t); i += 4) {
status = FLASH_ProgramWord(FLASH_WRITE_ADDR + i, *(uint32_t *) ((char *)&mcfg + i));
if (status != FLASH_COMPLETE) {
@ -246,19 +246,6 @@ static void resetConf(void)
cfg.P8[PIDVEL] = 0;
cfg.I8[PIDVEL] = 0;
cfg.D8[PIDVEL] = 0;
cfg.P_f[ROLL] = 2.5f; // new PID with preliminary defaults test carefully
cfg.I_f[ROLL] = 0.3f;
cfg.D_f[ROLL] = 0.06f;
cfg.P_f[PITCH] = 2.5f;
cfg.I_f[PITCH] = 0.3f;
cfg.D_f[PITCH] = 0.06f;
cfg.P_f[YAW] = 8.0f;
cfg.I_f[YAW] = 0.5f;
cfg.D_f[YAW] = 0.05f;
cfg.A_level = 5.0f;
cfg.H_level = 3.0f;
cfg.rcRate8 = 90;
cfg.rcExpo8 = 65;
cfg.rollPitchRate = 0;