Basel, as you did to get its values??? apneas used your step by step? used the serial interface? used some of matlab script and model of the plant? Yesterday I downloaded two batteries and can only find the right value of "P", it swings even!
How do I adjust without using the serial, after all you said that you have not tested this example, so it has no chance to even work. 'll Susbtituir values ??in config.h as you said P = 0.315 and D = 0.014 and I will try to find the value of I, if I could still talk today ahar something.