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Adding back PID gains since they didn't survive the merge for some reason

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bpmcgeeney
2021-10-14 18:25:33 -07:00
parent 14d68f852c
commit 59345992db
2 changed files with 7 additions and 5 deletions
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9
src/main.cpp
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@@ -17,14 +17,19 @@ int main() {
Vehicle State;
Vehicle PrevState;
// PID Gains
State.Kp = -6.8699;
State.Ki = 0;
State.Kd = -0.775;
// Initial Velocity
State.vx = 0; // [m/s]
State.vy = 0; // [m/s]
State.vz = 0; // [m/s]
// Initial YPR
State.yaw = 10 * M_PI / 180; // [rad]
State.pitch = 5 * M_PI / 180; // [rad]
State.yaw = 75 * M_PI / 180; // [rad]
State.pitch = 35 * M_PI / 180; // [rad]
State.roll = 0 * M_PI / 180; // [rad]
// Initial YPRdot