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7inch h67 #20

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7inch h67 #20

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13 changes: 6 additions & 7 deletions Silverware/src/pid.c
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Original file line number Diff line number Diff line change
Expand Up @@ -66,9 +66,9 @@ float stickTransitionProfileB[3] = { 0.3 , 0.3 , 0.0}; //keep values

//6mm & 7mm Abduction Pids for whoops (Team Alienwhoop)- set filtering ALIENWHOOP_ZERO_FILTERING or default beta filters
// ROLL PITCH YAW
float pidkp[PIDNUMBER] = {21.5e-2 , 21.5e-2 , 10.5e-1 };
float pidki[PIDNUMBER] = { 14e-1 , 15e-1 , 15e-1 };
float pidkd[PIDNUMBER] = { 7.4e-1 , 7.4e-1 , 5.5e-1 };
//float pidkp[PIDNUMBER] = {21.5e-2 , 21.5e-2 , 10.5e-1 };
//float pidki[PIDNUMBER] = { 14e-1 , 15e-1 , 15e-1 };
//float pidkd[PIDNUMBER] = { 7.4e-1 , 7.4e-1 , 5.5e-1 };


//BOSS 7 with 716 motors and 46mm Props - set filtering to BETA_FILTERING and adjust pass 1 and pass 2 for KALMAN_GYRO both to 70hz, set DTERM_LPF_2ND_HZ to 120hz, disable motor filtering
Expand Down Expand Up @@ -119,10 +119,9 @@ float pidkd[PIDNUMBER] = { 7.4e-1 , 7.4e-1 , 5.5e-1 };


//*********************************Saved Initial PIDs****************************************
float pidkp_init[PIDNUMBER] = { 0, 0, 0 };
float pidki_init[PIDNUMBER] = { 0, 0, 0 };
float pidkd_init[PIDNUMBER] = { 0, 0, 0 };

float pidkp[PIDNUMBER] = { 12.0e-2 , 12.0e-2 , 8.0e-2 };
float pidki[PIDNUMBER] = { 12.0e-1 , 12.0e-1 , 8.0e-1 };
float pidkd[PIDNUMBER] = { 4.5e-1 , 4.5e-1 , 1.5e-1 };

//************************************Setpoint Weight & Limits********************************
#ifdef BRUSHLESS_TARGET
Expand Down