From 6804fe0bb79eef59e988c5c8e45f0cdee9dd6417 Mon Sep 17 00:00:00 2001
From: David Wehr <dawehr@iastate.edu>
Date: Wed, 12 Apr 2017 00:46:07 -0500
Subject: [PATCH] Wasn't setting filter on velocity.
---
quad/src/quad_app/PID.h | 4 ++--
quad/src/quad_app/control_algorithm.c | 5 +++--
2 files changed, 5 insertions(+), 4 deletions(-)
diff --git a/quad/src/quad_app/PID.h b/quad/src/quad_app/PID.h
index 9753f3ab6..faf5579f0 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 0.88
+#define YPOS_ALPHA 0
//Pitch constants
@@ -58,7 +58,7 @@
#define XPOS_KP 0.55
#define XPOS_KI 0.0075
#define XPOS_KD 0.0
-#define XPOS_ALPHA 0.88
+#define XPOS_ALPHA 0
//Throttle constants
diff --git a/quad/src/quad_app/control_algorithm.c b/quad/src/quad_app/control_algorithm.c
index 79cf313f6..e985528a7 100644
--- a/quad/src/quad_app/control_algorithm.c
+++ b/quad/src/quad_app/control_algorithm.c
@@ -214,10 +214,11 @@ int control_algorithm_init(parameter_t * ps)
// Set velocity constants
graph_set_param_val(graph, ps->x_vel_pid, PID_KP, XVEL_KP);
graph_set_param_val(graph, ps->x_vel_pid, PID_KD, XVEL_KD);
- graph_set_param_val(graph, ps->x_vel_pid, PID_ALPHA, XVEL_ALPHA);
graph_set_param_val(graph, ps->y_vel_pid, PID_KP, YVEL_KP);
graph_set_param_val(graph, ps->y_vel_pid, PID_KD, YVEL_KD);
- graph_set_param_val(graph, ps->y_vel_pid, PID_ALPHA, YVEL_ALPHA);
+ // Differentiators
+ graph_set_param_val(graph, ps->x_vel, PID_ALPHA, XVEL_ALPHA);
+ graph_set_param_val(graph, ps->y_vel, PID_ALPHA, YVEL_ALPHA);
// Set X/Y/Alt constants
graph_set_param_val(graph, ps->x_pos_pid, PID_KP, XPOS_KP);
--
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