private void cmd_update_pid_Click(object sender, EventArgs e)
{
settings_controller.pid_para pid_data = new settings_controller.pid_para();
pid_data.kp = barProp.Value;
pid_data.ki = (1/get_Ti(barIntegral.Value, barIntegral.Maximum)) * pid_data.kp;
pid_data.kd = get_Td(barDerivative.Value) * pid_data.kp;
pid_data.anti_windup = barWindup.Value;
pid_data.en_pv_derivation = System.Convert.ToByte(chk_en_pv_derive.Checked);
if (hardware_driver != null)
{
hardware_driver.serial_send(mw_commander.update_settings(commander.tSetting.PID_roll, pid_data));
hardware_driver.serial_send(mw_commander.update_settings(commander.tSetting.PID_pitch, pid_data));
}
}
private void update_pid_settings()
{
_msgID = _organizer.MWCommander.AckID;
settings_controller.pid_para pid_data = new settings_controller.pid_para();
pid_data.anti_windup = this._windup;
pid_data.en_pv_derivation = Convert.ToByte(this._en_PV_derivation);
pid_data.kp = this._kp;
pid_data.ki = this._ki;
pid_data.kd = this._kd;
switch (_ctrl_chnl)
{
case commander.ctrl_channel.roll:
LastMessage = _organizer.MWCommander.update_settings(commander.tSetting.PID_roll, pid_data);
break;
case commander.ctrl_channel.pitch:
LastMessage = _organizer.MWCommander.update_settings(commander.tSetting.PID_pitch, pid_data);
break;
case commander.ctrl_channel.yaw:
LastMessage = _organizer.MWCommander.update_settings(commander.tSetting.PID_yaw, pid_data);
break;
case commander.ctrl_channel.z_axis:
LastMessage = _organizer.MWCommander.update_settings(commander.tSetting.PID_z, pid_data);
break;
default:
//TODO: Add x and y channels
throw new NotImplementedException();
}
_organizer.MWSerialDriver.serial_send(LastMessage);
}
