stuff

src/control.c

@@ -64,21 +64,18 @@ void control_cycle(measured_state_t *measured_state,
     MIN_INTEGRAL_YAW,
     MAX_INTEGRAL_YAW);
 
-  //static float t = 0.0;
-  // z_factor = desired_state->z_vel*0.1;
-  // roll_factor = desired_state->roll*0.01;
-  // pitch_factor = desired_state->pitch*0.01;
-  // yaw_factor = desired_state->yaw_vel*0.1;
-  z_factor = 0.5;
-  //roll_factor = 0.0;
-  //pitch_factor = 0.0;
+  z_factor = 0.2 + desired_state->z_vel*0.15;
+  roll_factor = -desired_state->roll*0.05;
+  pitch_factor = desired_state->pitch*0.05;
   yaw_factor = 0.0;
-  //t += 0.00001;
 
-  z_factor = 0.0;
-  roll_factor = 0.0;
-  pitch_factor = 0.0;
-  yaw_factor = 0.0;
+  //z_factor = 0.5;
+  //yaw_factor = 0.0;
+
+  // z_factor = 0.0;
+  // roll_factor = 0.0;
+  // pitch_factor = 0.0;
+  // yaw_factor = 0.0;
 
   // printf("LOG %f,%f,%f\n", dt_float, z_factor, measured_state->z_vel);
 

src/main.c

@@ -23,7 +23,7 @@ static void convert_rc_packet(desired_state_t *desired_state) {
   // 1 = roll
   // 2 = pitch
 
-  desired_state->z_vel = ((float) rc_data_packet.channel_0) / 128.0 - 1.0;
+  desired_state->z_vel = 2.0 * (((float) rc_data_packet.channel_0) / 128.0 - 1.0);
   desired_state->roll = ((float) rc_data_packet.channel_1) / 128.0 - 1.0;
   desired_state->pitch = ((float) rc_data_packet.channel_2) / 128.0 - 1.0;
   desired_state->yaw_vel = ((float) rc_data_packet.channel_3) / 128.0 - 1.0;

src/settings.h

@@ -63,7 +63,7 @@
 
 // Allowable limits for rotor speeds (0.0 = 1ms pulse, 1.0 = 2ms pulse).
 #define MIN_ROTOR_SPEED 0.0
-#define MAX_ROTOR_SPEED 0.6
+#define MAX_ROTOR_SPEED 0.4
 
 // Rotor speeds are filtered to reduce transients. The higher this parameter is,
 // the more filtering is applied (but the slower the rotors are to respond to