kylinxiang / quadrotor Goto Github PK
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my quadrotor source
1.删除不需要的程序,加入了COMPASS的误差存储函数,开启RC和数传功能,修改了PWM的输入,输出,没有修改解锁功能 2.由于油门值改变,分频改变,所以程序在小四轴开始运行即可以转动 3.使用上一版程序测试,按键中断和ADC 4.显示PWM数值 5.加入PID数值 5.22 将控制器改为和小四轴一样,测试结果,可以尝试使用2.4G在线修改PID 5.30 将PWM输出限定在1000~2000之间(需要测试是否可行),防止负载过大而使电调停止工作,可以尝试将机架换掉 5.31 将GMR程序加入,没有将数据融合功能加入主程序,完整的加入,需要完成 a.实现按键中断计算罗盘漂移,b.将数据存入EEPROM, c.根据测得的数据计算偏航角,d.将得到的角度在control中进行低通滤波与YAW相融合 6.21 在5.31的基础上将LED2的程序加进去 9.21 LED_FLASH的使用会导致延时的发生,完成GMR读取数据的上位机显示,Z轴的基准电压有误,采用数字加入1500来修正得到的参数。将原来使用 真实电压的浮点数改为使用读取值的int型(及读取得到的数值,以千为单位)
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