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added new PID nav functions to split lat and long based on Randy's work. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1485 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-11 21:13:30 +00:00
parent 1ae7f54aef
commit 83687a43ed
1 changed files with 14 additions and 7 deletions
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21
ArduCopterMega/setup.pde
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@ -104,8 +104,10 @@ setup_show(uint8_t argc, const Menu::arg *argv)
Serial.printf_P(PSTR("Yaw Dampener: %4.3f\n\n"), hold_yaw_dampener); Serial.printf_P(PSTR("Yaw Dampener: %4.3f\n\n"), hold_yaw_dampener);
// Nav // Nav
Serial.printf_P(PSTR("Nav:\npitch:\n")); Serial.printf_P(PSTR("Nav:\nlat:\n"));
print_PID(&pid_nav); print_PID(&pid_nav_lat);
Serial.printf_P(PSTR("Nav:\nlong:\n"));
print_PID(&pid_nav_lon);
Serial.printf_P(PSTR("baro throttle:\n")); Serial.printf_P(PSTR("baro throttle:\n"));
print_PID(&pid_baro_throttle); print_PID(&pid_baro_throttle);
Serial.printf_P(PSTR("sonar throttle:\n")); Serial.printf_P(PSTR("sonar throttle:\n"));
@ -525,10 +527,15 @@ setup_pid(uint8_t argc, const Menu::arg *argv)
// navigation // navigation
pid_nav.kP(NAV_P); pid_nav_lat.kP(NAV_P);
pid_nav.kI(NAV_I); pid_nav_lat.kI(NAV_I);
pid_nav.kD(NAV_D); pid_nav_lat.kD(NAV_D);
pid_nav.imax(NAV_IMAX * 100); pid_nav_lat.imax(NAV_IMAX * 100);
pid_nav_lon.kP(NAV_P);
pid_nav_lon.kI(NAV_I);
pid_nav_lon.kD(NAV_D);
pid_nav_lon.imax(NAV_IMAX * 100);
pid_baro_throttle.kP(THROTTLE_BARO_P); pid_baro_throttle.kP(THROTTLE_BARO_P);
pid_baro_throttle.kI(THROTTLE_BARO_I); pid_baro_throttle.kI(THROTTLE_BARO_I);
@ -758,7 +765,7 @@ setup_mag_offset(uint8_t argc, const Menu::arg *argv)
void print_PID(PID * pid) void print_PID(PID * pid)
{ {
Serial.printf_P(PSTR("P: %4.3f, I:%4.3f, D:%4.3f, IMAX:%d\n"), pid->kP(), pid->kI(), pid->kD(), (int)(pid->imax()/100)); Serial.printf_P(PSTR("P: %4.3f, I:%4.3f, D:%4.3f, IMAX:%ld\n"), pid->kP(), pid->kI(), pid->kD(), (long)pid->imax());
} }
void void