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Обновить pilot.cpp

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Goga Coder
2025-04-05 12:42:11 +07:00
parent 995048bfdc
commit 131e755f25
1 changed files with 3 additions and 5 deletions
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8
pilot.cpp
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@@ -113,7 +113,7 @@ float integral_err = 0.05f;
float Task_solution::GammaReg(float Psi, float Psi_dir) { float Task_solution::GammaReg(float Psi, float Psi_dir) {
float roll_err = AngDefines(Psi - 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); 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); float gamma_cmd = 2.0f * roll_err + (Ki * integral_err) + 35.f * (roll_err - roll_err_last);
roll_err_last = roll_err; roll_err_last = roll_err;
@@ -130,8 +130,6 @@ float Task_solution::HeightReg(float Yg, float Vy, float Hz) {
return Pitch_direct; return Pitch_direct;
} }
String HandleMessages() { String HandleMessages() {
String err; String err;
if (ReceiveNewMessage(err)) { if (ReceiveNewMessage(err)) {
@@ -142,8 +140,8 @@ String HandleMessages() {
String uartBuffer; String uartBuffer;
bool ReceiveNewMessage(String &err) { bool ReceiveNewMessage(String &err) {
while (Serial.available() > 0) { while (Serial2.available() > 0) {
if (const char c = Serial.read(); c == '\n') { // Ожидание конца строки if (const char c = Serial2.read(); c == '\n') { // Ожидание конца строки
if (uartBuffer.length() <= 1) { if (uartBuffer.length() <= 1) {
printDebugMessage("Invalid message"); printDebugMessage("Invalid message");
} }