#include "CONTROL.h"
#include "IMU1.h"
#include "moto.h"
#include "RFdate.h"
#include
extern T_RC_Data Rc_D; //遥控通道数据;
extern u8 txbuf[4]; //发送缓冲
extern u8 rxbuf[4]; //接收缓冲
extern u16 test1[3]; //接收到NRf24l01数据
extern S_INT16_XYZ ACC_F,GYRO_F;
PID PID_ROL,PID_PIT,PID_YAW;
extern S_INT16_XYZ MPU6050_ACC_LAST,MPU6050_GYRO_LAST;
int Motor_Ele=0; //俯仰期望
int Motor_Ail=0; //横滚期望
//u8 ARMED = 0;
//float rol_i=0,pit_i=0,yaw_p=0;
float thr=0;
S_FLOAT_XYZ EXP_ANGLE ,DIF_ANGLE;
PID1 PID_Motor;
/*********************************/
float Pitch_i,Roll_i,Yaw_i; //积分项
float Pitch_old,Roll_old,Yaw_old; //角度保存
float Pitch_d,Roll_d,Yaw_d; //微分项
float RC_Pitch,RC_Roll,RC_Yaw; //姿态角
float Pitch_shell_out,Roll_shell_out,Yaw_shell_out;//外环总输出
//外环PID参数
float Pitch_shell_kp=280;//30 140
float Pitch_shell_kd=0;//
float Pitch_shell_ki=0;//
/*********************************/