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Ignore whitespace Rev 2031 → Rev 2032

/branches/dongfang_FC_rewrite/configuration.h
40,38 → 40,31
typedef struct {
// IMU
/*PMM*/uint8_t gyroP;
/* P */uint8_t gyroI;
/* P */uint8_t gyroD;
/* P */uint8_t gyroI;
/* P */uint8_t IFactor;
uint8_t yawIFactor;
/* P */uint8_t compassYawEffect;
 
// Control
/* P */uint8_t externalControl;
 
/* P */uint8_t axisCoupling1;
/* P */uint8_t axisCoupling2;
/* P */uint8_t axisCouplingYawCorrection;
/* P */uint8_t dynamicStability;
uint8_t maxAccVector;
 
// Height control
/*PMM*/uint8_t heightP;
/* P */uint8_t heightI;
/*PMM*/uint8_t heightD;
/* P */uint8_t heightSetting;
/* P */uint8_t heightACCEffect;
 
uint8_t attitudeControl;
 
// The rest...
/* P */uint8_t userParams[8];
/*PMM*/uint8_t output0Timing;
/*PMM*/uint8_t output1Timing;
 
uint8_t servoManualControl[2];
uint8_t levelCorrection[2];
 
uint8_t motorSmoothing;
uint8_t levelCorrection[2];
/* P */uint8_t userParams[8];
} dynamicParam_t;
 
extern volatile dynamicParam_t dynamicParams;
120,30 → 113,6
// Global bitflags
uint8_t bitConfig; // see upper defines for bitcoding
// Height Control
uint8_t airpressureFilter;
uint8_t airpressureAccZCorrection;
uint8_t heightP;
uint8_t heightD;
uint8_t heightSetting;
uint8_t heightControlMaxThrottleChange;
uint8_t heightSlewRate;
 
// Attitude Control
uint8_t attitudeControl;
 
// Control
uint8_t stickP;
uint8_t stickD;
uint8_t stickYawP;
uint8_t stickThrottleD;
uint8_t minThrottle;
uint8_t maxThrottle;
uint8_t externalControl; // for serial Control
uint8_t maxAccVector;
uint8_t maxControlActivity;
uint8_t motorSmoothing;
// IMU
uint8_t gyroQuadrant;
uint8_t accQuadrant;
154,10 → 123,8
uint8_t gyroDFilterConstant;
uint8_t accFilterConstant;
 
uint8_t gyroP;
uint8_t gyroI;
uint8_t gyroD;
 
uint8_t maxAccVector;
uint8_t maxControlActivity;
uint8_t zerothOrderCorrection;
uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
uint8_t driftCompLimit; // limit for gyrodrift compensation
166,22 → 133,46
uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
 
uint8_t levelCorrection[2];
 
// Control
uint8_t gyroP;
uint8_t gyroI;
uint8_t gyroD;
 
uint8_t attitudeControl;
uint8_t stickP;
uint8_t stickD;
uint8_t stickYawP;
uint8_t stickThrottleD;
uint8_t minThrottle;
uint8_t maxThrottle;
uint8_t externalControl; // for serial Control
uint8_t motorSmoothing;
uint8_t dynamicStability; // PID limit for Attitude controller
uint8_t IFactor;
uint8_t yawIFactor;
uint8_t compassYawEffect;
uint8_t levelCorrection[2];
uint8_t batteryVoltageWarning;
uint8_t emergencyThrottle;
uint8_t emergencyFlightDuration;
 
// Height Control
uint8_t airpressureFilter;
uint8_t airpressureAccZCorrection;
uint8_t heightP;
uint8_t heightI;
uint8_t heightD;
uint8_t heightSetting;
uint8_t heightControlMaxIntegralThrottleChange;
uint8_t heightControlMaxThrottleChange;
uint8_t heightSlewRate;
 
// Servos
uint8_t servoCount;
uint8_t servoManualMaxSpeed;
servo_t servoConfigurations[2]; // [PITCH, ROLL]
 
// Battery warning and emergency flight
uint8_t batteryVoltageWarning;
uint8_t emergencyThrottle;
uint8_t emergencyFlightDuration;
 
// Outputs
output_flash_t outputFlash[2];
uint8_t outputDebugMask;