From 131e755f2517513d6f419863960086f441f8bd3c Mon Sep 17 00:00:00 2001
From: Goga Coder <me@gogacoder.com>
Date: Sat, 5 Apr 2025 12:42:11 +0700
Subject: [PATCH] =?UTF-8?q?=D0=9E=D0=B1=D0=BD=D0=BE=D0=B2=D0=B8=D1=82?=
 =?UTF-8?q?=D1=8C=20pilot.cpp?=
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---
 pilot.cpp | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/pilot.cpp b/pilot.cpp
index fca0e95..2916ba6 100644
--- a/pilot.cpp
+++ b/pilot.cpp
@@ -113,7 +113,7 @@ float integral_err = 0.05f;
 
 float Task_solution::GammaReg(float Psi, float Psi_dir) {
     float roll_err = AngDefines(Psi - Psi_dir);
-    integral_err += roll_err * 10.f;
+    integral_err += roll_err * 10.f; // ошибка: 10.f вместо 0.01f
     integral_err = constrain(integral_err, -50.f, 50.f);
     float gamma_cmd = 2.0f * roll_err + (Ki * integral_err) + 35.f * (roll_err - roll_err_last);
     roll_err_last = roll_err;
@@ -130,8 +130,6 @@ float Task_solution::HeightReg(float Yg, float Vy, float Hz) {
     return Pitch_direct;
 }
 
-
-
 String HandleMessages() {
     String err;
     if (ReceiveNewMessage(err)) {
@@ -142,8 +140,8 @@ String HandleMessages() {
 
 String uartBuffer;
 bool ReceiveNewMessage(String &err) {
-    while (Serial.available() > 0) {
-        if (const char c = Serial.read(); c == '\n') { // Ожидание конца строки
+    while (Serial2.available() > 0) {
+        if (const char c = Serial2.read(); c == '\n') { // Ожидание конца строки
             if (uartBuffer.length() <= 1) {
                 printDebugMessage("Invalid message");
             }