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This diff has been restricted to the following files: 'motor.c'

#
# old_revision [08a35a6680cdf8985cfb16fa6779ee6db7202a9c]
# new_revision [dc88787ecd1d574feba045763baed2a7651ff33d]
#
# patch "motor.c"
#  from [38218e6c4dee3f736912d3f16e65339741b2e36b]
#    to [9f90df05166bf056393d18108f1b25d0fd34da52]
#
============================================================
--- motor.c	38218e6c4dee3f736912d3f16e65339741b2e36b
+++ motor.c	9f90df05166bf056393d18108f1b25d0fd34da52
@@ -6,12 +6,14 @@
 #include "uart.h"
 #include "status.h"
 #include "log.h"
+#include "config.h"
 
 float integral[3] = {0.0f, 0.0f, 0.0f};
 float last[3];
 
 float throttle = 0.0f;
 
+#if 0
 #define Kp 0.2
 #define Ki 0.04
 #define Kd 0.08
@@ -22,7 +24,20 @@ float throttle = 0.0f;
 #define Kd_y 0.00
 #define Ka_y 0.0
 
+#else
 
+#define Kp config.pid.rollpitch.p
+#define Ki config.pid.rollpitch.i
+#define Kd config.pid.rollpitch.d
+#define Ka config.pid.rollpitch.a
+
+#define Kp_y config.pid.yaw.p
+#define Ki_y config.pid.yaw.i
+#define Kd_y config.pid.yaw.d
+#define Ka_y config.pid.yaw.a
+#endif
+
+
 /*
  * Perform a PID loop iteration.
  * roll and pitch are absolute values