diff options
Diffstat (limited to 'main.cpp')
| -rw-r--r-- | main.cpp | 27 |
1 files changed, 14 insertions, 13 deletions
@@ -57,11 +57,12 @@ int main() { RCC.enable(RCC.IOPA); RCC.enable(RCC.IOPB); - GPIOA.CRL = 0x4434bbbb; + GPIOA.CRL = 0x4444bbbb; GPIOA.CRH = 0x444444b4; - GPIOA.ODR = 1 << 5; - GPIOB.CRH = 0x4444ff44; + GPIOB.CRL = 0xff444434; + GPIOB.CRH = 0x44444444; + GPIOB.ODR = 1 << 1; I2C i2c; i2c.enable(); @@ -81,9 +82,9 @@ int main() { TIM2.CR1 = 0x05; - PID pid_pitch(3000, 0, 0); - PID pid_roll(3000, 0, 0); - PID pid_yaw(2000, 0, 0); + PID pid_pitch(6000, 0, 0); + PID pid_roll(6000, 0, 0); + PID pid_yaw(6000, 0, 0); while(1) { // Wait for a new update. @@ -97,9 +98,9 @@ int main() { // Generate motor mix. int16_t throttle = ppmsum.channels[2] - 1000; - int16_t pitch = pid_pitch.update((ppmsum.channels[1] - 1500) * 3 - gyro.x); - int16_t roll = pid_roll.update((ppmsum.channels[0] - 1500) * 3 - gyro.y); - int16_t yaw = pid_yaw.update((ppmsum.channels[3] - 1500) * 5 - gyro.z); + int16_t pitch = pid_pitch.update((ppmsum.channels[1] - 1500) * 1 - gyro.x); + int16_t roll = pid_roll.update((ppmsum.channels[0] - 1500) * 1 - gyro.y); + int16_t yaw = pid_yaw.update((ppmsum.channels[3] - 1500) * -1 - gyro.z); int16_t max = throttle > 250 ? 250 : throttle; saturate(pitch, max); @@ -107,10 +108,10 @@ int main() { saturate(yaw, max); int cmds[] = { - 1000 + throttle + pitch + roll + yaw, - 1000 + throttle + pitch - roll - yaw, - 1000 + throttle - pitch + roll - yaw, - 1000 + throttle - pitch - roll + yaw, + 1000 + throttle + pitch - roll + yaw, + 1000 + throttle - pitch - roll - yaw, + 1000 + throttle - pitch + roll + yaw, + 1000 + throttle + pitch + roll - yaw, }; TIM2.CCR1 = limit(cmds[0], 1000, 2000); |