From 422a7785c423d64b97f9ae06baf19921a859e380 Mon Sep 17 00:00:00 2001 From: Vegard Storheil Eriksen Date: Sat, 21 May 2011 13:18:42 +0200 Subject: Lower angle error proportional gain. --- main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/main.cpp b/main.cpp index 4fe3a60..340817c 100644 --- a/main.cpp +++ b/main.cpp @@ -172,8 +172,8 @@ class I2CThread : public BaseThread { saturate(pitch_angle_accum, 364088); saturate(roll_angle_accum, 364088); - int32_t pitch_rate_target = (pitch_angle_error * 4 * 65536 + pitch_angle_accum * 98) >> 16; - int32_t roll_rate_target = (roll_angle_error * 4 * 65536 + roll_angle_accum * 98) >> 16; + int32_t pitch_rate_target = (pitch_angle_error * 2 * 65536 + pitch_angle_accum * 98) >> 16; + int32_t roll_rate_target = (roll_angle_error * 2 * 65536 + roll_angle_accum * 98) >> 16; int16_t pitch_rate_comp = ((pitch_rate_target - (gyro.x * 4000 / 360)) * 6 * 36) >> 16; int16_t roll_rate_comp = ((roll_rate_target - (gyro.y * 4000 / 360)) * 6 * 36) >> 16; -- cgit v1.2.3