飞控stm32程序

#include “control.h“
#include “BSP/BSP.H“
#include “app/rc/rc.h“
#include “app/imu/imu.h“

PID PID_ROLPID_PITPID_YAW;

void Pid_init（void）;

void CONTROL（float rol float pit float yaw）
{
  u16 moto1=0moto2=0moto3=0moto4=0;
	
	PID_ROL.pout = PID_ROL.P * rol;
	PID_ROL.dout = PID_ROL.D * MPU6050_GYRO_LAST.X;
	
	PID_PIT.pout = PID_PIT.P * pit;
	PID_PIT.dout = PID_PIT.D * MPU6050_GYRO_LAST.Y;
	
	PID_YAW.dout = -PID_YAW.D * MPU6050_GYRO_LAST.Z;
	
	PID_ROL.OUT = PID_ROL.pout + PID_ROL.iout + PID_ROL.dout;
	PID_PIT.OUT = PID_PIT.pout + PID_PIT.iout + PID_PIT.dout;
	PID_YAW.OUT = PID_YAW.pout + PID_YAW.iout + PID_YAW.dout;
	if（Rc_Get.THROTTLE>1200）
	{
		moto3 = Rc_Get.THROTTLE - 1000 - PID_ROL.OUT - PID_PIT.OUT + PID_YAW.OUT;
		moto4 = Rc_Get.THROTTLE - 1000 + PID_ROL.OUT - PID_PIT.OUT - PID_YAW.OUT;
		moto1 = Rc_Get.THROTTLE - 1000 + PID_ROL.OUT + PID_PIT.OUT + PID_YAW.OUT;
		moto2 = Rc_Get.THROTTLE - 1000 - PID_ROL.OUT + PID_PIT.OUT - PID_YAW.OUT;
		
//		moto2 = Rc_Get.THROTTLE - 1000 - PID_ROL.OUT - PID_PIT.OUT + PID_YAW.OUT;
//		moto1 = Rc_Get.THROTTLE - 1000 + PID_ROL.OUT - PID_PIT.OUT - PID_YAW.OUT;
//		moto4 = Rc_Get.THROTTLE - 1000 + PID_ROL.OUT + PID_PIT.OUT + PID_YAW.OUT;
//		moto3 = Rc_Get.THROTTLE - 1000 - PID_ROL.OUT + PID_PIT.OUT - PID_YAW.OUT;
	}
	else
	{
		moto1 = 0;
		moto2 = 0;
		moto3 = 0;
		moto4 = 0;
	}
	if（ARMED）	Moto_PwmRflash（moto1moto2moto3moto4）;
	else			Moto_PwmRflash（0000）;
}
/*************************************************
Copyright:www.wellmakers.com
Author:路洋
Date:2014-04-25
Description:初始化PID参数
**************************************************/
void Pid_init（void）
{
	PID_ROL.P = 12;
	PID_ROL.I = 0;
	PID_ROL.D = 0.2;
	
	PID_PIT.P = 12;
	PID_PIT.I = 0;
	PID_PIT.D = 0.2;
	
	PID_YAW.P = 0;
	PID_YAW.I = 0;
	PID_YAW.D = 0.5;
	
	PID_ROL.pout = 0;
	PID_ROL.iout = 0;
	PID_ROL.dout = 0;
	
	PID_PIT.pout = 0;
	PID_PIT.iout = 0;
	PID_PIT.dout = 0;
	
	PID_YAW.pout = 0;
	PID_YAW.iout = 0;
	PID_YAW.dout = 0;
}

 属性            大小     日期    时间   名称
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     目录           0  2014-07-29 00:22  飞控stm32程序
     目录           0  2014-07-29 00:22  飞控stm32程序ee_source
     文件     4754657  2014-07-28 23:30  飞控stm32程序ee_source.zip
     目录           0  2014-07-29 00:22  飞控stm32程序ee_sourceee_source
     文件       79282  2014-04-28 14:16  飞控stm32程序ee_sourceee_sourceANO_FLY.uvgui.Administrator
     文件      146506  2014-04-12 21:52  飞控stm32程序ee_sourceee_sourceANO_FLY.uvgui.JZP
     文件      146752  2013-07-21 16:03  飞控stm32程序ee_sourceee_sourceANO_FLY.uvgui.LG
     文件      146099  2013-07-21 11:26  飞控stm32程序ee_sourceee_sourceANO_FLY.uvgui.SHAO
     文件       79639  2014-04-28 14:05  飞控stm32程序ee_sourceee_sourceANO_FLY.uvgui_Administrator.bak
     文件      140791  2014-04-10 22:06  飞控stm32程序ee_sourceee_sourceANO_FLY.uvgui_JZP.bak
     文件      146739  2013-07-21 15:58  飞控stm32程序ee_sourceee_sourceANO_FLY.uvgui_LG.bak
     文件      145690  2013-07-21 11:26  飞控stm32程序ee_sourceee_sourceANO_FLY.uvgui_SHAO.bak
     文件       27477  2014-04-28 14:16  飞控stm32程序ee_sourceee_sourceANO_FLY.uvopt
     文件       22503  2014-04-28 14:16  飞控stm32程序ee_sourceee_sourceANO_FLY.uvproj
     文件       26276  2014-04-28 14:06  飞控stm32程序ee_sourceee_sourceANO_FLY_ANO_FLY.dep
     文件       27478  2014-04-28 14:05  飞控stm32程序ee_sourceee_sourceANO_FLY_uvopt.bak
     文件       22516  2014-04-28 14:05  飞控stm32程序ee_sourceee_sourceANO_FLY_uvproj.bak
     目录           0  2014-07-29 00:22  飞控stm32程序ee_sourceee_sourceAPP
     目录           0  2014-07-29 00:22  飞控stm32程序ee_sourceee_sourceAPPCONTROL
     文件        2052  2014-04-28 13:42  飞控stm32程序ee_sourceee_sourceAPPCONTROLControl.c
     文件         296  2014-04-06 12:04  飞控stm32程序ee_sourceee_sourceAPPCONTROLcontrol.h
     目录           0  2014-07-29 00:22  飞控stm32程序ee_sourceee_sourceAPPIMU
     文件        4313  2014-04-14 10:41  飞控stm32程序ee_sourceee_sourceAPPIMUIMU.c
     文件         367  2013-08-31 17:32  飞控stm32程序ee_sourceee_sourceAPPIMUIMU.h
     目录           0  2014-07-29 00:22  飞控stm32程序ee_sourceee_sourceAPPRC
     文件       11459  2014-04-05 19:41  飞控stm32程序ee_sourceee_sourceAPPRCRc.c
     文件         686  2013-08-31 13:15  飞控stm32程序ee_sourceee_sourceAPPRCRc.h
     目录           0  2014-07-29 00:22  飞控stm32程序ee_sourceee_sourceAPPSYS
     文件        2527  2014-04-28 14:15  飞控stm32程序ee_sourceee_sourceAPPSYSmain.c
     文件        8605  2014-04-28 13:56  飞控stm32程序ee_sourceee_sourceAPPSYSstm32f10x_it.c
     文件        2084  2013-07-21 11:26  飞控stm32程序ee_sourceee_sourceAPPSYSstm32f10x_it.h
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