Merge pull request AeroQuad#375 from Kenny9999/development

Add back zero integral error on flight mode switch and change a bit defa...
kh4 · Jan 26, 2013 · 8bd74e0 · 8bd74e0
2 parents 7a5fcd0 + 4ad8633
commit 8bd74e0
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Showing 3 changed files with 14 additions and 9 deletions.
diff --git a/AeroQuad/AeroQuad.h b/AeroQuad/AeroQuad.h
@@ -55,7 +55,7 @@ int testCommand = 1000;
  */
 #define RATE_FLIGHT_MODE 0
 #define ATTITUDE_FLIGHT_MODE 1
-
+byte previousFlightMode = ATTITUDE_FLIGHT_MODE;
 #define TASK_100HZ 1
 #define TASK_50HZ 2
 #define TASK_10HZ 10

diff --git a/AeroQuad/DataStorage.h b/AeroQuad/DataStorage.h
@@ -123,15 +123,15 @@ void nvrWritePID(unsigned char IDPid, unsigned int IDEeprom) {
 // contains all default values when re-writing EEPROM
 void initializeEEPROM() {
   PID[RATE_XAXIS_PID_IDX].P = 100.0;
-  PID[RATE_XAXIS_PID_IDX].I = 0.0;
-  PID[RATE_XAXIS_PID_IDX].D = -300.0;
+  PID[RATE_XAXIS_PID_IDX].I = 150.0;
+  PID[RATE_XAXIS_PID_IDX].D = -350.0;
   PID[RATE_YAXIS_PID_IDX].P = 100.0;
-  PID[RATE_YAXIS_PID_IDX].I = 0.0;
-  PID[RATE_YAXIS_PID_IDX].D = -300.0;
-  PID[ATTITUDE_XAXIS_PID_IDX].P = 4.0;
+  PID[RATE_YAXIS_PID_IDX].I = 150.0;
+  PID[RATE_YAXIS_PID_IDX].D = -350.0;
+  PID[ATTITUDE_XAXIS_PID_IDX].P = 3.5;
   PID[ATTITUDE_XAXIS_PID_IDX].I = 0.0;
   PID[ATTITUDE_XAXIS_PID_IDX].D = 0.0;
-  PID[ATTITUDE_YAXIS_PID_IDX].P = 4.0;
+  PID[ATTITUDE_YAXIS_PID_IDX].P = 3.5;
   PID[ATTITUDE_YAXIS_PID_IDX].I = 0.0;
   PID[ATTITUDE_YAXIS_PID_IDX].D = 0.0;
   PID[ZAXIS_PID_IDX].P = 200.0;
@@ -143,10 +143,10 @@ void initializeEEPROM() {
   // AKA PID experiements
   PID[ATTITUDE_GYRO_XAXIS_PID_IDX].P = 100.0;
   PID[ATTITUDE_GYRO_XAXIS_PID_IDX].I = 0.0;
-  PID[ATTITUDE_GYRO_XAXIS_PID_IDX].D = -300.0;
+  PID[ATTITUDE_GYRO_XAXIS_PID_IDX].D = -350.0;
   PID[ATTITUDE_GYRO_YAXIS_PID_IDX].P = 100.0;
   PID[ATTITUDE_GYRO_YAXIS_PID_IDX].I = 0.0;
-  PID[ATTITUDE_GYRO_YAXIS_PID_IDX].D = -300.0;
+  PID[ATTITUDE_GYRO_YAXIS_PID_IDX].D = -350.0;
   rotationSpeedFactor = 1.0;
 
   #if defined (AltitudeHoldBaro)

diff --git a/AeroQuad/FlightCommandProcessor.h b/AeroQuad/FlightCommandProcessor.h
@@ -261,6 +261,11 @@ void readPilotCommands() {
     else {
         flightMode = RATE_FLIGHT_MODE;
     }
+
+    if (previousFlightMode != flightMode) {
+      zeroIntegralError();
+      previousFlightMode = flightMode;
+    }
 
 
   #if defined AltitudeHoldBaro || defined AltitudeHoldRangeFinder