/*=====================================================================================================*/ void System_Init(void) { SystemInit(); LED_Config(); KEY_Config(); RS232_Config(); Motor_Config(); PWM_Capture_Config(); Sensor_Config(); nRF24L01_Config(); PID_Init(&PID_Yaw); PID_Init(&PID_Roll); PID_Init(&PID_Pitch); PID_Pitch.Kp = +1.5f; PID_Pitch.Ki = +0.002f; PID_Pitch.Kd = +1.0f; PID_Roll.Kp = +1.5f; PID_Roll.Ki = +0.002f; PID_Roll.Kd = +1.0f; PID_Yaw.Kp = +0.0f; PID_Yaw.Ki = +0.0f; PID_Yaw.Kd = +0.0f; Delay_10ms(2); }
/*=====================================================================================================*/ void System_Init( void ) { SystemInit(); LED_Config(); KEY_Config(); RS232_Config(); I2C_Config(); Motor_Config(); nRF24L01_Config(); PID_Init(&PID_Yaw); PID_Init(&PID_Roll); PID_Init(&PID_Pitch); PID_Pitch.Kp = +3.5f; PID_Pitch.Ki = +0.004f; PID_Pitch.Kd = +4.0f; PID_Roll.Kp = +3.5f; PID_Roll.Ki = +0.004f; PID_Roll.Kd = +4.0f; PID_Yaw.Kp = +0.0f; PID_Yaw.Ki = +0.0f; PID_Yaw.Kd = +0.25f; Delay_10ms(2); }
void system_init(void) { LED_Config(); KEY_Config(); RS232_Config(); Motor_Config(); PWM_Capture_Config(); Sensor_Config(); nRF24L01_Config(); #if configSD_BOARD SDIO_Config(); #endif PID_Init(&PID_Yaw); PID_Init(&PID_Roll); PID_Init(&PID_Pitch); PID_Pitch.Kp = +4.0f; PID_Pitch.Ki = 0;//0.002f; PID_Pitch.Kd = +1.5f; PID_Roll.Kp = +4.0f; PID_Roll.Ki = 0;//0.002f; PID_Roll.Kd = 1.5f; PID_Yaw.Kp = +5.0f; PID_Yaw.Ki = +0.0f; PID_Yaw.Kd = +15.0f; Delay_10ms(10); Motor_Control(PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN); #if configFLIGHT_CONTROL_BOARD /* nRF Check */ while ( nRF_Check()== ERROR ); /* Sensor Init */ while(Sensor_Init() == ERROR); #endif Delay_10ms(10); /* Lock */ LED_R = 0; LED_G = 1; LED_B = 1; sys_status = SYSTEM_INITIALIZED; }
/*=====================================================================================================*/ void QCopterFC_Init( void ) { u8 Sta = ERROR; SystemInit(); LED_Config(); KEY_Config(); RS232_Config(); Motor_Config(); Sensor_Config(); nRF24L01_Config(); PID_Init(&PID_Yaw); PID_Init(&PID_Roll); PID_Init(&PID_Pitch); PID_Pitch.Kp = +1.5f; PID_Pitch.Ki = +0.002f; PID_Pitch.Kd = +1.0f; PID_Roll.Kp = +1.5f; PID_Roll.Ki = +0.002f; PID_Roll.Kd = +1.0f; PID_Yaw.Kp = +0.0f; PID_Yaw.Ki = +0.0f; PID_Yaw.Kd = +0.0f; RF_SendData.Packet = 0x00; /* Throttle Config */ if(KEY == KEY_ON) { LED_B = 0; BLDC_CtrlPWM(BLDC_PWM_MAX, BLDC_PWM_MAX, BLDC_PWM_MAX, BLDC_PWM_MAX); } while(KEY == KEY_ON); LED_B = 1; BLDC_CtrlPWM(BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN); /* nRF Check */ while(Sta == ERROR) Sta = nRF_Check(); Delay_10ms(10); /* Sensor Init */ if(Sensor_Init() == SUCCESS) LED_G = 0; Delay_10ms(10); }
void system_init(void) { LED_Config(); Serial_Config(Serial_Baudrate); Motor_Config(); PWM_Capture_Config(); //IMU Config Sensor_Config(); nRF24L01_Config(); //SD Config if ((SD_status = SD_Init()) != SD_OK) system.status = SYSTEM_ERROR_SD; PID_Init(&PID_Pitch, 4.0, 0.0, 1.5); PID_Init(&PID_Roll, 4.0, 0.0, 1.5); PID_Init(&PID_Yaw, 5.0, 0.0, 15.0); Delay_10ms(10); Motor_Control(PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN); /* nRF Check */ while (nRF_Check() == ERROR); /* Sensor Init */ while (Sensor_Init() == ERROR); Delay_10ms(10); /* Lock */ SetLED(LED_R, DISABLE); SetLED(LED_G, ENABLE); SetLED(LED_B, ENABLE); //Check if no error if (system.status != SYSTEM_ERROR_SD) system.status = SYSTEM_INITIALIZED; }
void PWM_Config( void ){ Motor_Config(); }