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--- projects:ukhas_glider_project:slave [2007/09/23 21:58] – laurenceb
+++ projects:ukhas_glider_project:slave [2008/07/19 23:33] (current) – external edit 127.0.0.1
@@ Line 7: / Line 7: @@
 $framesize = 64
 Const Servogain = 10
-Const Pterm = 1                                             'all +ive as a -ive pulse lenght causes +ive turn
+Const Pterm = -0.25                                         'all -ive as a +ive pulse lenght causes +ive turn
-Const Iterm = 0.001
+Const Iterm = -0.0003
-Const Dterm = 1
+Const Dterm = -0.35
-Const Kalmangpsweight = 0.6
+Const Kalmangpsweight = 0.5
-Const Kalmangyroweight = 0.3
+Const Kalmangyroweight = 0.5
 Const Propogation = 0.98 *(1 -kalmangyroweight)
-Const Servocontrolinput = -0.0015 *(1 -kalmangyroweight)    'need to check these with simcode
+Const Servocontrolinput = 0.0015 *(1 -kalmangyroweight)     'need to check these with simcode
-Const Center = 6000                                         'needs to be checked with servo
+Const Center = 6200                                         'needs to be checked with servo
 Const Conversionfactor = 16                                 'pwm timer counter is 16 times slower than sw pwm
 Const Lowerpwm = Center - 300
@@ Line 76: / Line 76: @@
 S = 0
 Integral = 0
+For Gpbyteone = 0 To 200                                    'to let us check servo alignment
+ Waitms 15
+ Pulseout , Portd , 5 , Center
+Next
 Start Timer1
 Start Timer0
@@ Line 206: / Line 210: @@
 If Gpfloatone > 180 Then
  Gpfloatone = Gpfloatone - 360
-End If                                                      'pid
+End If
-Gpfloattwo = Gpfloatone * Pterm                             'p
+Integral = Integral + Gpfloatone                            'i increment                                                     'pid
-Realrate = Dterm * Filteredrate                             'd   reuses the realrate variable
+Gpfloattwo = Gpfloatone * Pterm                             'P
-Integral = Integral + Gpfloatone                            'i
+Gpfloatone = Dterm * Filteredrate                           'D
-Gpfloatone = Integral * Iterm
+Gpfloatone = Gpfloatone + Gpfloattwo                        'add d and p terms
-If Gpfloatone > 30 Then Integral = 30 / Iterm               'wind up prevension
+If Gpfloatone > 30 Then Gpfloatone = 30                     'servo limits on d and p
-If Gpfloatone < -30 Then Integral = -30 / Iterm
+If Gpfloatone < -30 Then Gpfloatone = -30
-Gpfloatone = Gpfloatone + Realrate                          'add d and i terms
+Gpfloattwo = Integral * Iterm                               'calculate I
-Gpfloatone = Gpfloatone + Gpfloattwo                        'add on the p
+If Gpfloattwo > 25 Then Integral = 25 / Iterm               'wind up prevension
+If Gpfloattwo < -25 Then Integral = -25 / Iterm
+Gpfloatone = Gpfloatone + Gpfloattwo                        'add I term
 Gpfloatone = Servogain * Gpfloatone                         'servo dependant variable
-If Gpfloatone > 500 Then Gpfloatone = 500                   'servo limits
-If Gpfloatone < -500 Then Gpfloatone = -500
 Servo = Gpfloatone                                          'store servo for control input
 Gpintegerone = Gpfloatone