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Fix #231

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This commit is contained in:
Ben V. Brown
2018-03-23 13:14:59 +11:00
parent 37d5cf1e70
commit 03b2bede4d
3 changed files with 18 additions and 7 deletions
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10
workspace/TS100/src/main.cpp
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@@ -57,10 +57,8 @@ int main(void) {
PCBVersion = 2;
//Setup the ST Accelerometer
accel2.initalize(); //startup the accelerometer
}
{
} else {
PCBVersion = 3;
}
HAL_IWDG_Refresh(&hiwdg);
restoreSettings(); // load the settings from flash
@@ -843,9 +841,9 @@ void startPIDTask(void const *argument) {
int32_t integralCount = 0;
int32_t derivativeLastValue = 0;
int32_t kp, ki, kd;
kp = 80;
ki = 120;
kd = 60;
kp = 30;
ki = 60;
kd = 20;
// REMEBER ^^^^ These constants are backwards
// They act as dividers, so to 'increase' a P term, you make the number
// smaller.