Merge branch 'master' of git.ece.iastate.edu:danc/MicroCART_17-18

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

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);