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1614 dongfang 1
Dongfang's FC firmware rewrite
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The basis was V0.74d Code Redesign Killagreg.
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Goal:
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- To be the preferred hacker-friendly FC firmware.
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- To use H&Is design experience but make the code clearer and easier to extend+modify.
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Non-goal:
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- To follow up on all changes and all new features in the H&I firmware.
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Features:
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- Readable, reasonably documented source code makes it easy to implement the features you
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  want yourself (and to remove those you don't like).
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- The code was broken into smaller pieces and modularized (fc.c in particular).
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  Global variables are (almost) only written to by one module each.
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- New or experimental hardware is easy to incorporate. Gyro and acc. meter axes are reversible,
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  and resetting the sensitivity actually works.
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- New or experiemental controls are easy to incorporate. All controls (eg. R/C, external
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  serial, NC, automatic emergency landing pilot and automatic altitude controller pilot)
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  are potentially abstractable to one interface.
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- Reversal of gyro or accelerometer axes is easy. It is easy to adapt the firmware for
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  upside down installation of the FC too.
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- The firmware is compatible with MK-Tool. This may be changed, if somebody writes a new
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  MK-Tool which is easy to adapt for addition of / removal of features.
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Non-features (currently):
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- Navi support temporarily removed (should be added again later).
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- Compass support temporarily removed (should be added again later).
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- Parts of menu.c are dummy implemented or removed. It is possible that menu.c and all use
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  of printf will be removed later, and replaced by something else (debud on steroids).
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- Control rate limiter removed.
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- Altitude control temporarily removed (should be added again later).
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- Automatic board detection removed. This firmware is for compiling yourself, possibly
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  with nonstandard or experimental hardware. That conflicts with automatically switching
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  between standard hardware versions, so the feature was removed. Instead, is was made
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  easy to choose gyro types etc. in the makefile.
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How to build:
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- Choose a gyro definition, depending on your hardware, and enable it in the makefile
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  and (GYRO=.....) and #include its header file in analog.h (how to make that follow the
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  makefile automatically?). Currently, ENC-03_FC1.3, ADXRS610_FC2.0 and invenSense are
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  supported (each has a .c and a .h file).
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- make all