#include?“control.h“

PID?PID_ROLPID_PITPID_YAWPID_ALTPID_POS;
PID?PID_PID_1PID_PID_2PID_PID_3PID_PID_4PID_PID_5PID_PID_6PID_PID_7PID_PID_8PID_PID_9PID_PID_10PID_PID_11PID_PID_12;

int16_t?getlast_roll=0geilast_pitch=0;
float?rol_i=0pit_i=0yaw_p=0;

vs16?Moto_PWM_1=0Moto_PWM_2=0Moto_PWM_3=0Moto_PWM_4=0Moto_PWM_5=0Moto_PWM_6=0Moto_PWM_7=0Moto_PWM_8=0;

void?Control（T_float_angle?*att_inT_int16_xyz?*gyr_in?T_RC_Data?*rc_in?u8?armed）
{
	T_float_angle?angle;
	angle.rol?=?att_in->rol?-?（rc_in->ROLL-1500）/12;
	angle.pit?=?att_in->pit?+?（rc_in->PITCH-1500）/12;
	
	rol_i?+=?angle.rol;
	if（rol_i>2000）
	rol_i=2000;
	if（rol_i<-2000）
	rol_i=-2000;

	PID_ROL.pout?=?PID_ROL.P?*?angle.rol;
	PID_ROL.dout?=?-PID_ROL.D?*?gyr_in->Y;
	PID_ROL.iout?=?PID_ROL.I

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????78353??2013-11-11?15:09??ANO-MR-F1\ANO_FLY.uvgui.JDBH

?????文件??????74690??2014-04-20?13:13??ANO-MR-F1\ANO_FLY.uvgui.Lenovo

?????文件?????149995??2014-01-04?12:53??ANO-MR-F1\ANO_FLY.uvgui.LG

????.......????145336??2014-05-09?17:17??ANO-MR-F1\ANO_FLY.uvgui.WJT

????.......?????34999??2014-05-09?17:17??ANO-MR-F1\ANO_FLY.uvopt

????.......?????24006??2014-04-26?23:27??ANO-MR-F1\ANO_FLY.uvproj

?????文件??????32388??2014-05-09?17:14??ANO-MR-F1\ANO_FLY_ANO_FLY.dep

?????文件???????2102??2014-05-09?15:47??ANO-MR-F1\APP\Control.c

?????文件????????564??2014-05-09?15:47??ANO-MR-F1\APP\Control.h

?????文件??????21931??2014-05-09?16:29??ANO-MR-F1\APP\Data_Transfer.c

?????文件????????845??2014-05-09?16:05??ANO-MR-F1\APP\Data_Transfer.h

?????文件???????3622??2014-03-19?18:56??ANO-MR-F1\APP\Imu.c

?????文件????????286??2013-11-11?13:27??ANO-MR-F1\APP\Imu.h

?????文件???????3405??2014-04-26?22:53??ANO-MR-F1\APP\main.c

?????文件????????795??2013-11-12?19:58??ANO-MR-F1\APP\Rc.c

?????文件????????166??2013-11-12?19:58??ANO-MR-F1\APP\Rc.h

?????文件???????5885??2014-04-26?22:58??ANO-MR-F1\APP\stm32f10x_it.c

?????文件???????2084??2013-07-21?11:26??ANO-MR-F1\APP\stm32f10x_it.h

?????文件???????1460??2014-04-27?10:32??ANO-MR-F1\APP\sysconfig.h

?????文件???????3059??2013-07-24?22:35??ANO-MR-F1\BSP\ADC.c

?????文件????????150??2013-07-25?19:55??ANO-MR-F1\BSP\ADC.h

?????文件???????1701??2013-11-12?20:55??ANO-MR-F1\BSP\ANO_TC_STM32F1_I2C.h

?????文件?????334676??2014-04-26?20:42??ANO-MR-F1\BSP\ANO_TC_STM32F1_I2C.lib

?????文件??????13439??2014-05-09?17:14??ANO-MR-F1\BSP\BSP.c

?????文件????????369??2013-11-12?19:48??ANO-MR-F1\BSP\BSP.h

?????文件??????22720??2013-07-22?22:40??ANO-MR-F1\BSP\eeprom.c

?????文件???????3562??2014-05-09?16:14??ANO-MR-F1\BSP\eeprom.h

?????文件???????1820??2014-04-26?16:57??ANO-MR-F1\BSP\Led.c

?????文件????????543??2014-04-26?16:57??ANO-MR-F1\BSP\Led.h

?????文件???????5682??2013-11-12?00:26??ANO-MR-F1\BSP\Moto.c

............此處省略79個文件信息