#include?“control.h“
#include?“BSP/BSP.H“
#include?“app/rc/rc.h“
#include?“app/imu/imu.h“

PID?PID_ROLPID_PITPID_YAW;

void?Pid_init（void）;

void?CONTROL（float?rol?float?pit?float?yaw）
{
??u16?moto1=0moto2=0moto3=0moto4=0;
	
	PID_ROL.pout?=?PID_ROL.P?*?rol;
	PID_ROL.dout?=?PID_ROL.D?*?MPU6050_GYRO_LAST.X;
	
	PID_PIT.pout?=?PID_PIT.P?*?pit;
	PID_PIT.dout?=?PID_PIT.D?*?MPU6050_GYRO_LAST.Y;
	
	PID_YAW.dout?=?-PID_YAW.D?*?MPU6050_GYRO_LAST.Z;
	
	PID_ROL.OUT?=?PID_ROL.pout?+?PID_ROL.iout?+?PID_ROL.dout;
	PID_PIT.OUT?=?PID_PIT.pout?+?PID_PIT.iout?+?PID_PIT.dout;
	PID_YAW.OUT?=?PID_YAW.pout?+?PID_YAW.iout?+?PID_YAW.dout;
	if（Rc_Get.THROTTLE>1200）
	{
		moto3?=?Rc_Get.THROTTLE?-?1000?-?PID_ROL.OUT?-?PID_PIT.OUT?+?PID_YAW.OUT;
		moto4?=?Rc_Get.THROTTLE?-?1000?+?PID_ROL.OUT?-?PID_PIT.OUT?-?PID_YAW.OUT;
		moto1?=?Rc_Get.THROTTLE?-?1000?+?PID_ROL.OUT?+?PID_PIT.OUT?+?PID_YAW.OUT;
		moto2?=?Rc_Get.THROTTLE?-?1000?-?PID_ROL.OUT?+?PID_PIT.OUT?-?PID_YAW.OUT;
		
//		moto2?=?Rc_Get.THROTTLE?-?1000?-?PID_ROL.OUT?-?PID_PIT.OUT?+?PID_YAW.OUT;
//		moto1?=?Rc_Get.THROTTLE?-?1000?+?PID_ROL.OUT?-?PID_PIT.OUT?-?PID_YAW.OUT;
//		moto4?=?Rc_Get.THROTTLE?-?1000?+?PID_ROL.OUT?+?PID_PIT.OUT?+?PID_YAW.OUT;
//		moto3?=?Rc_Get.THROTTLE?-?1000?-?PID_ROL.OUT?+?PID_PIT.OUT?-?PID_YAW.OUT;
	}
	else
	{
		moto1?=?0;
		moto2?=?0;
		moto3?=?0;
		moto4?=?0;
	}
	if（ARMED）	Moto_PwmRflash（moto1moto2moto3moto4）;
	else			Moto_PwmRflash（0000）;
}
/*************************************************
Copyright:www.wellmakers.com
Author:路洋
Date:2014-04-25
Description:初始化PID參數(shù)
**************************************************/
void?Pid_init（void）
{
	PID_ROL.P?=?12;
	PID_ROL.I?=?0;
	PID_ROL.D?=?0.2;
	
	PID_PIT.P?=?12;
	PID_PIT.I?=?0;
	PID_PIT.D?=?0.2;
	
	PID_YAW.P?=?0;
	PID_YAW.I?=?0;
	PID_YAW.D?=?0.5;
	
	PID_ROL.pout?=?0;
	PID_ROL.iout?=?0;
	PID_ROL.dout?=?0;
	
	PID_PIT.pout?=?0;
	PID_PIT.iout?=?0;
	PID_PIT.dout?=?0;
	
	PID_YAW.pout?=?0;
	PID_YAW.iout?=?0;
	PID_YAW.dout?=?0;
}

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

?????文件??????79282??2014-04-28?14:16??飛控stm32程序\bee_source\ANO_FLY.uvgui.Administrator

?????文件?????146506??2014-04-12?21:52??飛控stm32程序\bee_source\ANO_FLY.uvgui.JZP

?????文件?????146752??2013-07-21?16:03??飛控stm32程序\bee_source\ANO_FLY.uvgui.LG

?????文件?????146099??2013-07-21?11:26??飛控stm32程序\bee_source\ANO_FLY.uvgui.SHAO

?????文件??????79639??2014-04-28?14:05??飛控stm32程序\bee_source\ANO_FLY.uvgui_Administrator.bak

?????文件?????140791??2014-04-10?22:06??飛控stm32程序\bee_source\ANO_FLY.uvgui_JZP.bak

?????文件?????146739??2013-07-21?15:58??飛控stm32程序\bee_source\ANO_FLY.uvgui_LG.bak

?????文件?????145690??2013-07-21?11:26??飛控stm32程序\bee_source\ANO_FLY.uvgui_SHAO.bak

????.......?????98126??2015-12-30?23:59??飛控stm32程序\bee_source\ANO_FLY.uvopt

?????文件??????22371??2015-08-05?13:57??飛控stm32程序\bee_source\ANO_FLY.uvproj

?????文件??????24386??2015-12-30?22:53??飛控stm32程序\bee_source\ANO_FLY_ANO_FLY.dep

????.......?????96278??2015-11-24?16:27??飛控stm32程序\bee_source\ANO_FLY_uvopt.bak

?????文件??????22503??2014-04-28?14:16??飛控stm32程序\bee_source\ANO_FLY_uvproj.bak

?????文件???????2052??2014-04-28?13:41??飛控stm32程序\bee_source\APP\CONTROL\Control.c

?????文件????????296??2014-04-06?12:04??飛控stm32程序\bee_source\APP\CONTROL\control.h

?????文件???????4313??2014-04-14?10:41??飛控stm32程序\bee_source\APP\IMU\IMU.c

?????文件????????367??2013-08-31?17:32??飛控stm32程序\bee_source\APP\IMU\IMU.h

?????文件??????11459??2014-04-05?19:41??飛控stm32程序\bee_source\APP\RC\Rc.c

?????文件????????686??2013-08-31?13:15??飛控stm32程序\bee_source\APP\RC\Rc.h

?????文件???????2527??2014-04-28?14:15??飛控stm32程序\bee_source\APP\SYS\main.c

?????文件???????8605??2014-04-28?13:56??飛控stm32程序\bee_source\APP\SYS\stm32f10x_it.c

?????文件???????2084??2013-07-21?11:26??飛控stm32程序\bee_source\APP\SYS\stm32f10x_it.h

?????文件???????8757??2014-04-14?15:18??飛控stm32程序\bee_source\APP\UART\Uart1.c

?????文件????????350??2014-04-14?15:10??飛控stm32程序\bee_source\APP\UART\Uart1.h

?????文件???????1537??2013-07-21?13:58??飛控stm32程序\bee_source\BSP\ANO_Tech_STM32F10x_I2C.h

?????文件?????307486??2013-07-21?13:50??飛控stm32程序\bee_source\BSP\ANO_Tech_STM32F10x_I2C.lib

?????文件???????5898??2014-04-28?13:44??飛控stm32程序\bee_source\BSP\BSP.c

?????文件????????584??2014-04-06?17:11??飛控stm32程序\bee_source\BSP\BSP.H

?????文件??????22720??2013-07-22?22:40??飛控stm32程序\bee_source\BSP\eeprom.c

?????文件???????3590??2014-04-06?13:31??飛控stm32程序\bee_source\BSP\eeprom.h

............此處省略182個文件信息