Lowered PWM clamping to 20,000

quad/Makefile

@@ -25,8 +25,9 @@ zybo:
 	bash scripts/build_zybo.sh
 
 # For creating an image of the control network.
-gen_diagram:
-	$(MAKE) -C src/gen_diagram
+diagram:
+	$(MAKE) libs
+	$(MAKE) -C src/gen_diagram run
 	bash src/gen_diagram/create_png.sh
 
 boot: $(BOOT)

quad/src/gen_diagram/network.dot

@@ -72,13 +72,13 @@ label="<f0>dPhi  |<f1> [Constant=0.000]"]
 "dPsi"[shape=record
 label="<f0>dPsi  |<f1> [Constant=0.000]"]
 "P PWM Clamp"[shape=record
-label="<f0>P PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-30000.000] |<f3> [Max=30000.000]"]
+label="<f0>P PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
 "Pitch Rate PID" -> "P PWM Clamp":f1 [label="Correction"]
 "R PWM Clamp"[shape=record
-label="<f0>R PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-30000.000] |<f3> [Max=30000.000]"]
+label="<f0>R PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
 "Roll Rate PID" -> "R PWM Clamp":f1 [label="Correction"]
 "Y PWM Clamp"[shape=record
-label="<f0>Y PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-30000.000] |<f3> [Max=30000.000]"]
+label="<f0>Y PWM Clamp  |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
 "Yaw Rate PID" -> "Y PWM Clamp":f1 [label="Correction"]
 "VRPN X"[shape=record
 label="<f0>VRPN X  |<f1> [Constant=0.000]"]

quad/src/quad_app/control_algorithm.c

@@ -13,8 +13,8 @@
 #include "util.h"
 #include "timer.h"
 
-#define ROLL_PITCH_MAX_ANGLE 1.5708 // 90 degrees
-#define PWM_DIFF_BOUNDS 30000
+#define ROLL_PITCH_MAX_ANGLE 0.35 // 20 degrees
+#define PWM_DIFF_BOUNDS 20000
 #define VRPN_REFRESH_TIME 0.01f // 10ms
 
 void connect_autonomous(parameter_t* ps) {