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[MOD]: Update PID

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This commit is contained in:
but0n 2016-10-10 21:26:20 +08:00
parent 6039f24f53
commit c840cb64c8
2 changed files with 3 additions and 3 deletions
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2
libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/pid.h
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@ -8,7 +8,7 @@ extern float g_Yaw, g_Pitch, g_Roll; //eular
#define OUTTER_LOOP_KI 0
#define OUTTER_LOOP_KD 0
#define INNER_LOOP_KP 0.5f
#define INNER_LOOP_KP 0.8f
#define INNER_LOOP_KI 0
#define INNER_LOOP_KD 0

4
src/main.c
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@ -94,8 +94,8 @@ int main() {
.OutterLast = 0,
.Feedback = &g_Roll,
.i = 0,
.Channel1 = &MOTOR4,
.Channel2 = &MOTOR2,
.Channel1 = &MOTOR2,
.Channel2 = &MOTOR4,
.Gyro = &sourceData.gX,
};