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new Baseflight PID

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full gyro scale is used now
and a new pid with float calculations was added based on PIDrewrite
eeprom size was also increased from 1kB to 2kB
This commit is contained in:
Lukas S 2013-11-03 03:40:16 +01:00
parent bff260c7c6
commit b996b26cbb
11 changed files with 192 additions and 31 deletions
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17
src/config.c
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@ -7,7 +7,7 @@
#endif
#define FLASH_PAGE_SIZE ((uint16_t)0x400)
#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * (FLASH_PAGE_COUNT - 1)) // use the last KB for storage
#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * (FLASH_PAGE_COUNT - 2)) // use the last 2 KB for storage
master_t mcfg; // master config struct with data independent from profiles
config_t cfg; // profile config struct
@ -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) {
if (FLASH_ErasePage(FLASH_WRITE_ADDR) == FLASH_COMPLETE && FLASH_ErasePage(FLASH_WRITE_ADDR + FLASH_PAGE_SIZE) == 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) {
@ -246,6 +246,19 @@ 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;