Helicopter/firmware
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Bug fix

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This commit is contained in:
Goga Coder
2024-03-09 09:38:21 +07:00
parent 4a85827150
commit 007a3fd16f
3 changed files with 13 additions and 21 deletions
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6
src/main.cpp
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@@ -17,11 +17,11 @@ void setup() {
new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
new Kalman2DFilter(10.f, 1.f, 1.8f),
new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN)),
new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightController"), // height
new SavedPidRegulator(2.f, 12.f, 0.f, "YawController"), // yaw
new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightControl"), // height
new SavedPidRegulator(2.f, 12.f, 0.f, "YawControl"), // yaw
new BrushedMotor(1, 2, 3, 4, 1),
new BrushedMotor(1, 2, 3, 4, 1),
new PIDController(0.6f, 3.5f, 0.03f, new BrushedMotor(1, 2, 3, 4, 3), "RollController"), // pitch
new PIDController(0.6f, 3.5f, 0.03f, new BrushedMotor(1, 2, 3, 4, 3), "RollControl"), // pitch
true)));
}