MWC_v2.2_代码解读

MWC_v2.2_代码解读

[转载]MWC v2.2 代码解读LOOP()
[pic] (2013-04-07 20:01:27)
[pic]转载??
|标签??| |
| | |
|转载 | |




[pic]


void loop () {
static uint8_t rcDelayCommand; // this indicates the number of time
(multiple of RC measurement at 50Hz) the sticks must be maintained to run
or switch off motors
static uint8_t rcSticks; // this hold sticks position for command
combos
uint8_t axis,i;
int16_t error,errorAngle;
int16_t delta,deltaSum;
int16_t PTerm,ITerm,DTerm;
int16_t PTermACC = 0 , ITermACC = 0 , PTermGYRO = 0 , ITermGYRO = 0;
static int16_t lastGyro[3] = {0,0,0};
static int16_t delta1[3],delta2[3];
static int16_t errorGyroI[3] = {0,0,0};
static int16_t errorAngleI[2] = {0,0};
static uint32_t rcTime = 0