Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-19 22:35:19 +03:00
Code Issues Wiki Activity

Review changes

Browse source
This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-04-20 18:44:43 +02:00
parent 32eeefad1b
commit b8ba10b860
1 changed files with 9 additions and 9 deletions
Download patch file Download diff file Expand all files Collapse all files

18
src/main/navigation/navigation.c
View file

@ -3031,9 +3031,9 @@ void navigationUsePIDs(void)
navPidInit(
&posControl.pids.pos[axis],
(float)pidProfile()->bank_mc.pid[PID_POS_XY].P / 100.0f,
(float)pidProfile()->bank_mc.pid[PID_POS_XY].I / 100.0f,
(float)pidProfile()->bank_mc.pid[PID_POS_XY].D / 100.0f,
(float)pidProfile()->bank_mc.pid[PID_POS_XY].FF / 100.0f,
0.0f,
0.0f,
0.0f,
NAV_DTERM_CUT_HZ
);
@ -3049,16 +3049,16 @@ void navigationUsePIDs(void)
navPidInit(
&posControl.pids.pos[Z],
(float)pidProfile()->bank_mc.pid[PID_POS_Z].P / 100.0f,
(float)pidProfile()->bank_mc.pid[PID_POS_Z].I / 100.0f,
(float)pidProfile()->bank_mc.pid[PID_POS_Z].D / 100.0f,
(float)pidProfile()->bank_mc.pid[PID_POS_Z].FF / 100.0f,
0.0f,
0.0f,
0.0f,
NAV_DTERM_CUT_HZ
);
navPidInit(&posControl.pids.vel[Z], (float)pidProfile()->bank_mc.pid[PID_VEL_Z].P / 66.7f,
(float)pidProfile()->bank_mc.pid[PID_VEL_Z].I / 20.0f,
(float)pidProfile()->bank_mc.pid[PID_VEL_Z].D / 100.0f,
(float)pidProfile()->bank_mc.pid[PID_VEL_Z].FF / 100.0f,
0.0f,
NAV_DTERM_CUT_HZ
);
@ -3075,14 +3075,14 @@ void navigationUsePIDs(void)
navPidInit(&posControl.pids.fw_nav, (float)pidProfile()->bank_fw.pid[PID_POS_XY].P / 100.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_XY].I / 100.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_XY].D / 100.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_XY].FF / 100.0f,
0.0f,
NAV_DTERM_CUT_HZ
);
navPidInit(&posControl.pids.fw_alt, (float)pidProfile()->bank_fw.pid[PID_POS_Z].P / 10.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_Z].I / 10.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 10.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_Z].FF / 100.0f,
0.0f,
NAV_DTERM_CUT_HZ
);
}