MikroElektronika Forum

Code: Select all

signed int err;
signed int pitchOffset;
signed int pitch;


void main() {
pitchOffset = -36;
pitch = -37;

  do
  {

     err=pitch - pitchOffset;



       }while (1);
       }

Code: Select all

float pitch_est=0;
float Offset_Pitch = 0;
float wy = 0.0;
float yy = 0.0;
float esumy ;
float erry  ;
float I = 0.01 ;
float Kp = 0.2 ;
float DY = 1 ;
float ealty = 0.0;
float y=0;

wy = pitch_est;
yy = Offset_Pitch ;

....
/loop every 10 mS
erry = yy - wy;  // aktuelle Regelabweichung bestimmen

if ((y <220) && (y > 0))  
{
      // (Anti-Windup)
esumy = esumy + erry ;      
}
y = RC_Throttle + (Kp * erry) + (I * 0.02 * esumy) + (DY * ((erry - ealty)) / 0.02) ; // Reglergleichung
ealty = erry  ;               
if (y > 220) y = 220 ;             
if (y < 1) y=0;
}