From adfe7c37b333c245256885aa3d8ac1077e24ff18 Mon Sep 17 00:00:00 2001
From: Sebastian Reichel <sre@ring0.de>
Date: Fri, 2 Nov 2012 19:24:33 +0100
Subject: make PID timing more precise, setup P, I and D

---
 ctrl/flight-control.vala | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

(limited to 'ctrl/flight-control.vala')

diff --git a/ctrl/flight-control.vala b/ctrl/flight-control.vala
index f0e1345..964c449 100644
--- a/ctrl/flight-control.vala
+++ b/ctrl/flight-control.vala
@@ -27,8 +27,11 @@ public class FlightControl {
 
 	public FlightControl() throws Error {
 		pid = new PID[PIDEntry.length];
-		for(int i=0; i<PIDEntry.length; i++)
+		for(int i=0; i<PIDEntry.length; i++) {
 			pid[i] = new PID();
+			pid[i].calibrate(100.0, 0, -300.0);
+			pid[i].clear();
+		}
 	}
 
 	/**
-- 
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