#define PID_P 0.3
-#define PID_P_S 0.8 /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
-#define PID_I_S 0.01
+
+/* RL-tool results from first order system approx */
+/* P=0.16 I=13,4/freq=0.013 */
+/* Hodnoty upraveny podle skutecnych vysledku */
+/* P=0.8 I=0.01 */
+
+#define PID_P_S 0.16 /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_I_S 0.0134
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
.spd_err_sum=0,
.log_col_count=0, /* pocet radku zaznamu */
.log_col=0,
- .doLogs=0
+ .doLogs=0,
+ .alpha_offset=960
};
/**
int32_t u1,u2,u3;
pos=rps.index_dist;
- pos+=960; /*zarovnani faze 'a' s osou 'alpha'*/
+ pos+=rps.alpha_offset; /*zarovnani faze 'a' s osou 'alpha'*/
/*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
pos*=4294967;