projects:ukhas_glider_project:code
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| Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
| projects:ukhas_glider_project:code [2007/12/08 21:53] – Zagi code laurenceb | projects:ukhas_glider_project:code [2008/07/19 23:33] (current) – external edit 127.0.0.1 | ||
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| Line 605: | Line 605: | ||
| } | } | ||
| pwmpitch=(pitchrunningaverage*PP)+(deltapitchrunningaverage*DP)+(pitchintegral*IP); | pwmpitch=(pitchrunningaverage*PP)+(deltapitchrunningaverage*DP)+(pitchintegral*IP); | ||
| - | pwmroll=(rollrunningaverage*PR)+(rollrunningaverage*DR)+(rollintegral*IR)+tweakfactor; | + | pwmroll=(rollrunningaverage*PR)+(deltarollrunningaverage*DR)+(rollintegral*IR)+tweakfactor; |
| servoa=trimAgain*(pwmpitch+pwmroll)+trimAbias; | servoa=trimAgain*(pwmpitch+pwmroll)+trimAbias; | ||
| if (servoa> | if (servoa> | ||
projects/ukhas_glider_project/code.1197150797.txt.gz · Last modified: 2008/07/19 23:32 (external edit)