Limit integral windup, some new PID values and linearise thrust.

2012-12-08 12:31:17 +00:00
parent 999e129e2c
commit 274805c2a0
5 changed files with 75 additions and 23 deletions
--- a/1
+++ b/1
@@ -5,6 +5,7 @@ NAME=quad
 SSRCS=crt0.s
 CSRCS=main.c i2c.c wmp.c timer.c interrupt.c uart.c event.c matrix.c dcm.c
 CSRCS+=fisqrt.c stick.c trig.c motor.c led.c watchdog.c panic.c status.c
+CSRCS+=thrust.c

 #PROJOPTS=-DUSE_UART -DSEND_DCM