| 87,7 → 87,7 |
|---|
| SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200); |
| SET_POT(dynamicParams.gyroI, staticParams.gyroI); |
| SET_POT(dynamicParams.gyroD, staticParams.gyroD); |
| SET_POT(dynamicParams.compassYawEffect,staticParams.compassYawEffect); |
| SET_POT(dynamicParams.compassFixedHeading,staticParams.compassFixedHeading); |
| |
| SET_POT(dynamicParams.externalControl, staticParams.externalControl); |
| SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability); |
| 246,14 → 246,12 |
|---|
| // staticParams.driftCompDivider = |
| // staticParams.driftCompLimit = |
| |
| staticParams.axisCoupling1 = 90; |
| staticParams.axisCoupling2 = 67; |
| staticParams.axisCouplingYawCorrection = 0; |
| staticParams.dynamicStability = 50; |
| staticParams.maxAccVector = 10; |
| staticParams.IFactor = 32; |
| staticParams.yawIFactor = 100; |
| staticParams.compassYawEffect = 128; |
| staticParams.compassYawCorrection = 64; |
| staticParams.compassFixedHeading = 0; |
| staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
| |
| // Servos |