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Initial cut for NAV yaw adjustments with separate PID controller on FW

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Pawel Spychalski (DzikuVx) 2019-12-06 14:37:50 +01:00
parent 412a5b456a
commit e7387df0f8
6 changed files with 56 additions and 0 deletions
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7
src/main/navigation/navigation.c
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@ -3195,6 +3195,13 @@ void navigationUsePIDs(void)
0.0f,
NAV_DTERM_CUT_HZ
);
navPidInit(&posControl.pids.fw_heading, (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].P / 100.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_HEADING].I / 100.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_HEADING].D / 100.0f,
0.0f,
NAV_DTERM_CUT_HZ
);
}
void navigationInit(void)