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Cleanup code and implement Hybrid MultiWii PID controller

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Roll and pitch is using 2.2 algorithm
Yaw is using 2.3 algorithm
This commit is contained in:
Michael Jakob 2015-01-07 23:59:02 +01:00
parent 48161a31ca
commit dda5c2ccb7
2 changed files with 112 additions and 20 deletions
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2
src/main/io/serial_cli.c
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@ -369,7 +369,7 @@ const clivalue_t valueTable[] = {
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, 0, MAG_NONE },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidController, 0, 3 },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidController, 0, 4 },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], 0, 200 },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], 0, 200 },