From e06db0b545373ada32959248297eba463ff60bf9 Mon Sep 17 00:00:00 2001
From: Teppen108 <131367354+Teppen108@users.noreply.github.com>
Date: Fri, 31 May 2024 19:29:13 +0200
Subject: [PATCH] pid changes2.0

---
 software/MySrc/Flight/mixer.c          | 16 ++++++++--------
 software/MySrc/Flight/pid_controller.c |  6 +++---
 software/MySrc/mymain.c                |  1 +
 3 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/software/MySrc/Flight/mixer.c b/software/MySrc/Flight/mixer.c
index e96a6f9..2631178 100644
--- a/software/MySrc/Flight/mixer.c
+++ b/software/MySrc/Flight/mixer.c
@@ -2,7 +2,7 @@
 
 void mixing(mixer_handle_t *mixer_h, motor_output_t *motor_output){
     int16_t motor_low_limit = 200;
-    int16_t motor_high_limit = 1850;
+    int16_t motor_high_limit = 1600;
 
     float throttle = ((float)mixer_h->input.throttle)*mixer_h->percentages.throttle;
     float roll = ((float)mixer_h->input.roll)* mixer_h->percentages.roll;
@@ -13,10 +13,10 @@ void mixing(mixer_handle_t *mixer_h, motor_output_t *motor_output){
 
 
 
-    motor_output->motor4 = (int16_t)((throttle + roll- pitch - yaw)); //must be motor 4 was motor 1
-    motor_output->motor3 = (int16_t)((throttle - roll - pitch + yaw)); //must be motor 3 was motor 2
-    motor_output->motor1 = (int16_t)((throttle - roll + pitch - yaw)); //must be motor 1 was motor 3
-    motor_output->motor2 = (int16_t)((throttle + roll + pitch + yaw)); //must be motor 2 was motor 4
+    motor_output->motor4 = (int16_t)((throttle + pitch + roll - yaw)); //must be motor 4 was motor 1
+    motor_output->motor3 = (int16_t)((throttle - pitch + roll + yaw)); //must be motor 3 was motor 2
+    motor_output->motor1 = (int16_t)((throttle - pitch - roll - yaw)); //must be motor 1 was motor 3
+    motor_output->motor2 = (int16_t)((throttle + pitch - roll + yaw)); //must be motor 2 was motor 4
 
         if(motor_output->motor1 > motor_high_limit){
             temp = motor_output->motor1 - motor_high_limit;
@@ -128,8 +128,8 @@ void mixing(mixer_handle_t *mixer_h, motor_output_t *motor_output){
 }
 
 void init_mixer_percentages(mixer_handle_t *mixer_h){
-    mixer_h->percentages.roll = 0.8;
+    mixer_h->percentages.roll = 1;
     mixer_h->percentages.pitch = 0.8;
-    mixer_h->percentages.yaw = 0.8;
-    mixer_h->percentages.throttle = 0.8;
+    mixer_h->percentages.yaw = 1;
+    mixer_h->percentages.throttle = 1;
 }
\ No newline at end of file
diff --git a/software/MySrc/Flight/pid_controller.c b/software/MySrc/Flight/pid_controller.c
index fe9f1f3..628310c 100644
--- a/software/MySrc/Flight/pid_controller.c
+++ b/software/MySrc/Flight/pid_controller.c
@@ -12,9 +12,9 @@
 
 
 #define TAU 0.00065
-#define KD 0.6
-#define KI 0.4
-#define KP 1.2
+#define KP 0.6
+#define KI 0.2
+#define KD 1.8
 
 
 
diff --git a/software/MySrc/mymain.c b/software/MySrc/mymain.c
index 170c351..f850e8b 100644
--- a/software/MySrc/mymain.c
+++ b/software/MySrc/mymain.c
@@ -147,6 +147,7 @@ void mymain(void) {
 
         //imu_process(&imu_h);
         flight_ctrl_cycle();
+
         motors_process(&motors_h);