稳定的MWC
http://v.youku.com/v_show/id_XNDQ4MjM0MTI0.html修改了MWC的Position HOLD部分的代码。现在的MWC稳如泰山！在原代码中加入红色部分的代码
代码分两种情况：
1. 用I2C转接板连接GPS的。
只需要修改两处：
在I2C_GPS_NAV.ino里面修改
// 以下是要修改的代码
static void GPS_calc_poshold(int x_error, int y_error)
{
int32_t p,i,d;
int32_t output;
int32_t x_target_speed, y_target_speed;
// East / West
x_target_speed = pi_poshold_lon.get_p(x_error); // calculate desired speed from lon error
x_target_speed = constrain(x_target_speed,-100,100);
x_rate_error = x_target_speed - x_actual_speed; // calc the speed error
......
......
......
// North / South
y_target_speed = pi_poshold_lat.get_p(y_error); // calculate desired speed from lat error
y_target_speed = constrain(y_target_speed,-100,100);
......
......
......
在GPS.ino里修改
void GPS_NewData() {
uint8_t axis;
#if defined(I2C_GPS)
static uint8_t GPS_pids_initialized;
static uint8_t _i2c_gps_status;
......
......
......
if (_i2c_gps_status & I2C_GPS_STATUS_NEW_DATA) { //Check about new data
if (GPS_update) { GPS_update = 0;} else { GPS_update = 1;} //Fancy flash on GUI :D
if (!GPS_pids_initialized) {
GPS_set_pids();
GPS_pids_initialized = 1;
}
//Read GPS data for distance, heading and gps position
......
......
同时，需要把Pos,PosR,NavR的D修改成0
2. 用串口连接GPS的代码
我没有串口连接GPS的代码，但是懂代码的朋友，应该 自已可以找到GPS.ino里相关的函数进行修改。
求沙发 前排，哇咔咔
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