Update example tune for new gyro, change air mode to avoid motors sto…

…pping in extreme cases
catphish · Sep 23, 2023 · 0c37d7a · 0c37d7a
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Showing 2 changed files with 35 additions and 36 deletions.
diff --git a/README.md b/README.md
@@ -100,13 +100,13 @@ term in the case of sudden yaw disruption.
 ## TBS Source One V5 5" - 2306/2555KV Motors at 4S
 
 ```
-Angle rate: 1500
-Acro rate: 1500
-P: 120
-I: 50
-D: 150
+Angle rate: 1000
+Acro rate: 1000
+P: 100
+I: 80
+D: 100
 Yaw P: 200
-Yaw I: 200
+Yaw I: 100
 Expo: 60
 Yaw expo: 60
 Throttle gain: 80

diff --git a/firmware/src/airmode.c b/firmware/src/airmode.c
@@ -7,36 +7,6 @@
 // throttle is close the the minimum or maximum.
 
 void air_mode(int32_t *motor_outputs) {
-  // TODO: Make the limits configurable.
-  if(motor_outputs[1] < 100) {
-    int32_t motor_error = 100 - motor_outputs[1];
-    motor_outputs[1] = 100;
-    motor_outputs[2] += motor_error;
-    motor_outputs[3] += motor_error;
-    motor_outputs[4] += motor_error;
-  }
-  if(motor_outputs[2] < 100) {
-    int32_t motor_error = 100 - motor_outputs[2];
-    motor_outputs[2] = 100;
-    motor_outputs[1] += motor_error;
-    motor_outputs[3] += motor_error;
-    motor_outputs[4] += motor_error;
-  }
-  if(motor_outputs[3] < 100) {
-    int32_t motor_error = 100 - motor_outputs[3];
-    motor_outputs[3] = 100;
-    motor_outputs[1] += motor_error;
-    motor_outputs[2] += motor_error;
-    motor_outputs[4] += motor_error;
-  }
-  if(motor_outputs[4] < 100) {
-    int32_t motor_error = 100 - motor_outputs[4];
-    motor_outputs[4] = 100;
-    motor_outputs[1] += motor_error;
-    motor_outputs[2] += motor_error;
-    motor_outputs[3] += motor_error;
-  }
-
   if(motor_outputs[1] > 2000) {
     int32_t motor_error = motor_outputs[1] - 2000;
     motor_outputs[1] = 2000;
@@ -65,4 +35,33 @@ void air_mode(int32_t *motor_outputs) {
     motor_outputs[2] -= motor_error;
     motor_outputs[3] -= motor_error;
   }
+
+  if(motor_outputs[1] < 100) {
+    int32_t motor_error = 100 - motor_outputs[1];
+    motor_outputs[1] = 100;
+    motor_outputs[2] += motor_error;
+    motor_outputs[3] += motor_error;
+    motor_outputs[4] += motor_error;
+  }
+  if(motor_outputs[2] < 100) {
+    int32_t motor_error = 100 - motor_outputs[2];
+    motor_outputs[2] = 100;
+    motor_outputs[1] += motor_error;
+    motor_outputs[3] += motor_error;
+    motor_outputs[4] += motor_error;
+  }
+  if(motor_outputs[3] < 100) {
+    int32_t motor_error = 100 - motor_outputs[3];
+    motor_outputs[3] = 100;
+    motor_outputs[1] += motor_error;
+    motor_outputs[2] += motor_error;
+    motor_outputs[4] += motor_error;
+  }
+  if(motor_outputs[4] < 100) {
+    int32_t motor_error = 100 - motor_outputs[4];
+    motor_outputs[4] = 100;
+    motor_outputs[1] += motor_error;
+    motor_outputs[2] += motor_error;
+    motor_outputs[3] += motor_error;
+  }
 }