From 09bb884d2cb65ef5d3037c25ee5f273ecaefaf73 Mon Sep 17 00:00:00 2001
From: David Wehr <dawehr@iastate.edu>
Date: Wed, 12 Apr 2017 00:07:59 -0500
Subject: [PATCH] Fixing missing PIDs.
---
quad/src/quad_app/PID.h | 4 ++--
quad/src/quad_app/control_algorithm.c | 1 +
2 files changed, 3 insertions(+), 2 deletions(-)
diff --git a/quad/src/quad_app/PID.h b/quad/src/quad_app/PID.h
index faf5579f0..9753f3ab6 100644
--- a/quad/src/quad_app/PID.h
+++ b/quad/src/quad_app/PID.h
@@ -39,7 +39,7 @@
#define YPOS_KP 0.55
#define YPOS_KI 0.0075
#define YPOS_KD 0.0
-#define YPOS_ALPHA 0
+#define YPOS_ALPHA 0.88
//Pitch constants
@@ -58,7 +58,7 @@
#define XPOS_KP 0.55
#define XPOS_KI 0.0075
#define XPOS_KD 0.0
-#define XPOS_ALPHA 0
+#define XPOS_ALPHA 0.88
//Throttle constants
diff --git a/quad/src/quad_app/control_algorithm.c b/quad/src/quad_app/control_algorithm.c
index 3a1ab4675..79cf313f6 100644
--- a/quad/src/quad_app/control_algorithm.c
+++ b/quad/src/quad_app/control_algorithm.c
@@ -231,6 +231,7 @@ int control_algorithm_init(parameter_t * ps)
graph_set_param_val(graph, ps->alt_pid, PID_KP, ALT_ZPOS_KP);
graph_set_param_val(graph, ps->alt_pid, PID_KI, ALT_ZPOS_KI);
graph_set_param_val(graph, ps->alt_pid, PID_KD, ALT_ZPOS_KD);
+ graph_set_param_val(graph, ps->alt_pid, PID_ALPHA, ALT_ZPOS_ALPHA);
// Set PWM difference clamping limits
graph_set_param_val(graph, ps->clamp_d_pwmP, BOUNDS_MIN, -PWM_DIFF_BOUNDS);
--
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