/branches/dongfang_FC_rewrite/analog.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/attitude.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
229,15 → 229,24 |
int16_t cospitch = int_cos(angle[PITCH]); |
int16_t cosroll = int_cos(angle[ROLL]); |
int16_t sinroll = int_sin(angle[ROLL]); |
int16_t tanpitch = int_tan(angle[PITCH]); |
ACRate[PITCH] = (((int32_t) rate_ATT[PITCH] * cosroll - (int32_t) yawRate |
* sinroll) >> MATH_UNIT_FACTOR_LOG); |
int16_t test; |
ACRate[ROLL] = rate_ATT[ROLL] + |
(((((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll) |
>> MATH_UNIT_FACTOR_LOG) |
* int_tan(angle[PITCH])) >> MATH_UNIT_FACTOR_LOG); |
#define ANTIOVF 512 |
ACRate[PITCH] = ((int32_t) rate_ATT[PITCH] * cosroll - (int32_t) yawRate |
* sinroll) / (int32_t) MATH_UNIT_FACTOR; |
ACRate[ROLL] = rate_ATT[ROLL] + (((int32_t) rate_ATT[PITCH] * sinroll |
/ ANTIOVF * tanpitch + (int32_t) yawRate * int_cos(angle[ROLL]) / ANTIOVF |
* tanpitch) / ((int32_t) MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR)); |
test = rate_ATT[ROLL] + |
(((rate_ATT[PITCH] * sinroll + yawRate * cosroll) >> 14) * tanpitch) >> 14; |
DebugOut.Analog[20] = ACRate[ROLL]; |
DebugOut.Analog[21] = test; |
ACYawRate = ((int32_t) rate_ATT[PITCH] * sinroll) / cospitch |
+ ((int32_t) yawRate * cosroll) / cospitch; |
} |
/branches/dongfang_FC_rewrite/commands.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/configuration.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/configuration.h |
---|
70,7 → 70,7 |
uint8_t GyroI; // Value : 0-250 |
uint8_t GyroD; // Value : 0-250 |
uint8_t LowVoltageWarning; // Value : 0-250 |
uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Empüngsverlust |
uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Emp�ngsverlust |
uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
uint8_t Unused0; // |
uint8_t IFactor; // Value : 0-250 |
85,14 → 85,14 |
uint8_t ServoPitchMin; // Value : 0-250 // Anschlag |
uint8_t ServoPitchMax; // Value : 0-250 // Anschlag |
uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
uint8_t LoopGasLimit; // Value: 0-250 max. Gas wührend Looping |
uint8_t LoopThreshold; // Value: 0-250 Schwelle für Stickausschlag |
uint8_t LoopHysteresis; // Value: 0-250 Hysterese für Stickausschlag |
uint8_t LoopGasLimit; // Value: 0-250 max. Gas w�hrend Looping |
uint8_t LoopThreshold; // Value: 0-250 Schwelle f�r Stickausschlag |
uint8_t LoopHysteresis; // Value: 0-250 Hysterese f�r Stickausschlag |
uint8_t AxisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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 AngleTurnOverPitch; // Value: 0-250 180ü-Punkt |
uint8_t AngleTurnOverRoll; // Value: 0-250 180ü-Punkt |
uint8_t AngleTurnOverPitch; // Value: 0-250 180�-Punkt |
uint8_t AngleTurnOverRoll; // Value: 0-250 180�-Punkt |
uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
uint8_t DriftComp; // limit for gyrodrift compensation |
uint8_t DynamicStability; // PID limit for Attitude controller |
/branches/dongfang_FC_rewrite/control.c |
---|
0,0 → 1,376 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
/* |
OBSOLETED BY controlMixer.c. But this is how it looked - maybe somebody will find it simpler? |
#include <stdlib.h> |
#include "control.h" |
#include "rc.h" |
#include "configuration.h" |
#include "attitude.h" |
#include "eeprom.h" |
#include "flight.h" |
#define RCChannel(dimension) (PPM_in[staticParams.ChannelAssignment[dimension]]) |
uint16_t maxStickPitch = 0, maxStickRoll = 0; |
int16_t stickPitch = 0, stickRoll = 0, stickYaw = 0, stickThrottle = 0; |
int16_t GPSStickPitch = 0, GPSStickRoll = 0; |
int16_t externalStickPitch = 0, externalStickRoll = 0, externalStickYaw = 0, externalHeightValue = -20; |
// dongfang's own experiment: Cablibrated sticks. |
int16_t stickOffsetPitch = 0, stickOffsetRoll = 0; |
// Looping-or-not flags. |
uint8_t loopingPitch = 0, loopingRoll = 0; |
uint8_t loopingLeft = 0, loopingRight = 0, loopingDown = 0, loopingTop = 0; |
// Internal variables for reading commands made with an R/S stick. |
uint8_t lastStickCommand = STICK_COMMAND_UNDEF; |
uint8_t stickCommandTimer = 0; |
ExternalControl_t externalControl; |
/ * |
* Stick diagram: |
* 2--3--4 |
* | | + |
* 1 9 5 ^ 0 |
* | | | |
* 8--7--6 |
* |
* + <-- |
* 0 |
* |
* Not in any of these positions: 0 |
* / |
/ * |
* The stick most be further from center than this to indicate a settings number (1-5). |
* / |
#define STICK_SETTINGSELECTION_THRESHOLD 70 |
uint8_t control_getLeftRCStickIndex(int16_t thresholdThrottle, int16_t thresholdYaw) { |
if(RCChannel(CH_THROTTLE) > thresholdThrottle) { |
// throttle is up |
if(RCChannel(CH_YAW) > thresholdYaw) |
return STICK_COMMAND_GYROCAL; |
if(RCChannel(CH_YAW) < -thresholdYaw) |
return STICK_COMMAND_ACCCAL; |
return STICK_COMMAND_UNDEF; |
} else if(RCChannel(CH_THROTTLE) < -thresholdThrottle) { |
// pitch is down |
if(RCChannel(CH_YAW) > thresholdYaw) |
return STICK_COMMAND_STOP; |
if(RCChannel(CH_YAW) < -thresholdYaw) |
return STICK_COMMAND_START; |
return STICK_COMMAND_UNDEF; |
} else { |
// pitch is around center |
return STICK_COMMAND_UNDEF; |
} |
} |
uint8_t control_getRightRCStickIndex(void) { |
if(RCChannel(CH_PITCH) > STICK_SETTINGSELECTION_THRESHOLD) { |
// pitch is up |
if(RCChannel(CH_ROLL) > STICK_SETTINGSELECTION_THRESHOLD) |
return 2; |
if(RCChannel(CH_ROLL) < -STICK_SETTINGSELECTION_THRESHOLD) |
return 4; |
return 3; |
} else if(RCChannel(CH_PITCH) < -STICK_SETTINGSELECTION_THRESHOLD) { |
// pitch is down |
if(RCChannel(CH_ROLL) > STICK_SETTINGSELECTION_THRESHOLD) |
return 8; |
if(RCChannel(CH_ROLL) < -STICK_SETTINGSELECTION_THRESHOLD) |
return 6; |
return 7; |
} else { |
// pitch is around center |
if(RCChannel(CH_ROLL) > STICK_SETTINGSELECTION_THRESHOLD) |
return 1; |
if(RCChannel(CH_ROLL) < -STICK_SETTINGSELECTION_THRESHOLD) |
return 5; |
return 9; |
} |
} |
/ * |
* This could be expanded to take calibrate / start / stop commands from ohter sources |
* than the R/C (read: Custom MK R/C project) |
* / |
void control_senseStickCommands(void) { |
uint8_t stickCommandNow = control_getLeftRCStickIndex(85, 85); |
if (stickCommandNow != lastStickCommand) { |
lastStickCommand = stickCommandNow; |
stickCommandTimer = 0; |
} else { |
if (stickCommandTimer < 201) |
stickCommandTimer++; |
} |
} |
/ * |
* This could be expanded to take calibrate / start / stop commands from ohter sources |
* than the R/C (read: Custom MK R/C project) |
* / |
uint8_t control_getStickCommand(void) { |
// If the same command was made 200 times, it's stable. |
if (stickCommandTimer >= 200) { |
return lastStickCommand; |
} |
return STICK_COMMAND_UNDEF; |
} |
uint8_t control_isStickCommandRepeated(void) { |
return stickCommandTimer > 200 ? 1 : 0; |
} |
/ * |
* To be fired only when the right stick is in the center position. |
* This will cause the value of pitch and roll stick to be adjusted |
* to zero (not just to near zero, as per the assumption in rc.c |
* about the rc signal. I had values about 50..70 with a Futaba |
* R617 receiver.) This calibration is not strictly necessary, but |
* for control logic that depends on the exact (non)center position |
* of a stick, it may be useful. |
* / |
void control_setNeutral(void) { |
stickOffsetPitch += stickPitch; |
stickOffsetRoll += stickRoll; |
} |
/ * |
* Set the potientiometer values to the values of the respective R/C channel |
* right now. No slew rate limit. |
* / |
void control_initPots(void) { |
uint8_t i; |
for (i=0; i<4; i++) { |
pots[i] = RCChannel(CH_POTS + i) + POT_OFFSET; |
} |
for (i=4; i<8; i++) { |
pots[i] = PPM_in[9 + (i-4)] + POT_OFFSET; |
} |
} |
/ * |
* Update potentiometer values with slow slew rate. Could be made faster if desired. |
* / |
void control_updatePots(void) { |
uint8_t i; |
uint16_t targetvalue; |
for (i=0; i<8; i++) { |
if (i<4) // configured pots |
targetvalue = RCChannel(CH_POTS + i) + POT_OFFSET; |
else // PPM24-Extension |
targetvalue = PPM_in[9 + i] + POT_OFFSET; |
if (targetvalue < 0) targetvalue = 0; |
if (pots[i] < targetvalue && pots[i] < 255) pots[i]++; else if(pots[i] > 0 && pots[i] > targetvalue) pots[i]--; |
} |
} |
/ * |
* Update the variables indicating stick position from the sum of R/C, GPS and external control. |
* / |
void control_update(void) { |
// calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
stickPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
// (stick_pitch * 3 + RCChannel(CH_PITCH) * staticParams.StickP) / 4; |
stickPitch += PPM_diff[staticParams.ChannelAssignment[CH_PITCH]] * staticParams.StickD; |
stickPitch = stickPitch - stickOffsetPitch - GPSStickPitch; |
stickRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
// stick_roll = (stick_roll * 3 + RCChannel(CH_ROLL) * staticParams.StickP) / 4; |
stickRoll += PPM_diff[staticParams.ChannelAssignment[CH_ROLL]] * staticParams.StickD; |
stickRoll = stickRoll - stickOffsetRoll - GPSStickRoll; |
// mapping of yaw |
stickYaw = -RCChannel(CH_YAW); |
// (range of -2 .. 2 is set to zero, to avoid unwanted yaw trimming on compass correction) |
if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
if (stickYaw > 2) stickYaw-= 2; |
else if (stickYaw< -2) stickYaw += 2; |
else stickYaw = 0; |
} |
// mapping of gas |
stickThrottle = RCChannel(CH_THROTTLE) + 120;// shift to positive numbers |
if(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128) { |
stickPitch += (int16_t) externalControl.pitch * (int16_t) staticParams.StickP; |
stickRoll += (int16_t) externalControl.roll * (int16_t) staticParams.StickP; |
stickYaw += externalControl.yaw; |
// ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)staticParams.Height_Gain; |
// Dubious: Lowest throttle setting has precedence. |
if(externalControl.throttle < stickThrottle) stickThrottle = externalControl.throttle; |
} |
if(stickThrottle < 0) stickThrottle = 0; |
if(abs(stickPitch / CONTROL_SCALING) > maxStickPitch) { |
maxStickPitch = abs(stickPitch) / CONTROL_SCALING; |
if(maxStickPitch > 100) maxStickPitch = 100; |
} |
else if (maxStickPitch) maxStickPitch--; |
if(abs(stickRoll / CONTROL_SCALING) > maxStickRoll) { |
maxStickRoll = abs(stickRoll) / CONTROL_SCALING; |
if(maxStickRoll > 100) maxStickRoll = 100; |
} |
else if (maxStickRoll) maxStickRoll--; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Looping? Do not consider external or GPS input for this :) |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if((RCChannel(CH_ROLL) > staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_LEFT) loopingLeft = 1; |
else { |
if(loopingLeft) { // Hysteresis |
if((RCChannel(CH_ROLL) < (staticParams.LoopThreshold - staticParams.LoopHysteresis))) loopingLeft = 0; |
} |
} |
if((RCChannel(CH_ROLL) < -staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_RIGHT) loopingRight = 1; |
else { |
if(loopingRight) { // Hysteresis |
if(RCChannel(CH_ROLL) > -(staticParams.LoopThreshold - staticParams.LoopHysteresis)) loopingRight = 0; |
} |
} |
if((RCChannel(CH_PITCH) > staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_UP) loopingTop = 1; |
else { |
if(loopingTop) { // Hysteresis |
if((RCChannel(CH_PITCH) < (staticParams.LoopThreshold - staticParams.LoopHysteresis))) loopingTop = 0; |
} |
} |
if((RCChannel(CH_PITCH) < -staticParams.LoopThreshold) && staticParams.BitConfig & CFG_LOOP_DOWN) loopingDown = 1; |
else { |
if(loopingDown) { // Hysteresis |
if(RCChannel(CH_PITCH) > -(staticParams.LoopThreshold - staticParams.LoopHysteresis)) loopingDown = 0; |
} |
} |
if(loopingLeft || loopingRight) loopingRoll = 1; else loopingRoll = 0; |
if(loopingTop || loopingDown) { loopingPitch = 1; loopingRoll = 0; loopingLeft = 0; loopingRight = 0;} else loopingPitch = 0; |
} |
void setCompassCalState(void) { |
static uint8_t stick = 1; |
// if pitch is centered or top set stick to zero |
if(RCChannel(CH_PITCH) > -20) stick = 0; |
// if pitch is down trigger to next cal state |
if((RCChannel(CH_PITCH) < -70) && !stick) { |
stick = 1; |
compassCalState++; |
if(compassCalState < 5) beepNumber(compassCalState); |
else beep(1000); |
} |
} |
/ * |
* |
* / |
uint8_t control_hasNewRCData(void) { |
// return !NewPpmData--; |
return (NewPpmData-- == 0) ? 1 : 0; |
} |
void control_performPilotCalibrationCommands(uint8_t stickCommand) { |
if (stickCommand == STICK_COMMAND_GYROCAL && !control_isStickCommandRepeated()) { |
// Run gyro calibration but do not repeat it. |
GRN_OFF; |
// TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
// isFlying = 0; |
// check roll/pitch stick position |
// if pitch stick is top or roll stick is left or right --> change parameter setting |
// according to roll/pitch stick position |
uint8_t setting = control_getRightRCStickIndex(); |
if ((setting > 0 && setting < 6) || setting == 9) { |
// Gyro calinbration, with or without selecting a new parameter-set. |
if(setting > 0 && setting < 6) { |
// A valid parameter-set (1..5) was chosen - use it. |
setActiveParamSet(setting); |
} |
ParamSet_ReadFromEEProm(getActiveParamSet()); |
attitude_setNeutral(); |
flight_setNeutral(); |
if (setting == 9) { // Right stick is centered; calibrate it to zero (hmm strictly does not belong here). |
control_setNeutral(); // Calibrate right stick neutral position. |
} |
beepNumber(getActiveParamSet()); |
} else if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE) && setting == 7) { |
// If right stick is centered and down |
compassCalState = 1; |
beep(1000); |
} |
} |
// save the ACC neutral setting to eeprom |
else { |
if(stickCommand == STICK_COMMAND_ACCCAL && !control_isStickCommandRepeated()) { |
// Run gyro and acc. meter calibration but do not repeat it. |
GRN_OFF; |
analog_calibrateAcc(); |
attitude_setNeutral(); |
flight_setNeutral(); |
control_setNeutral(); // Calibrate right stick neutral position. |
beepNumber(getActiveParamSet()); |
} |
} |
} // end !MOTOR_RUN condition. |
/* |
/branches/dongfang_FC_rewrite/control.h |
---|
0,0 → 1,76 |
/*********************************************************************************/ |
/* Stick control interface */ |
/*********************************************************************************/ |
/* |
OBSOLETED BY controlMixer.h. But this is how it looked - maybe somebody will find it simpler? |
#ifndef _CONTROL_H |
#define _CONTROL_H |
#include <inttypes.h> |
#define CONTROL_SCALING 4 |
// defines for lookup staticParams.ChannelAssignment |
#define CH_PITCH 0 |
#define CH_ROLL 1 |
#define CH_THROTTLE 2 |
#define CH_YAW 3 |
#define CH_POTS 4 |
#define POT_OFFSET 110 |
extern int16_t stickPitch, stickRoll, stickYaw, stickThrottle; |
extern int16_t stickOffsetNick, stickOffsetRoll; |
extern uint16_t maxStickPitch, maxStickRoll; |
extern uint8_t loopingPitch, loopingRoll; |
// external control |
extern int16_t externalStickPitch, externalStickRoll, externalStickYaw; |
// current GPS-stick values |
extern int16_t GPSStickPitch, GPSStickRoll; |
typedef struct { |
uint8_t digital[2]; |
uint8_t eemoteButtons; |
int8_t pitch; |
int8_t roll; |
int8_t yaw; |
uint8_t throttle; |
int8_t height; |
uint8_t free; |
uint8_t frame; |
uint8_t config; |
} __attribute__((packed)) ExternalControl_t; |
extern ExternalControl_t externalControl; |
//uint8_t control_getLeftStickCalibrateIndex(void); |
//uint8_t control_getLeftStickMotorStartIndex(void); |
//uint8_t control_getRightRCStickIndex(void); |
void control_initPots(void); |
void control_updatePots(void); |
void setCompassCalState(void); |
void updateCompass(void); |
void control_setNeutral(void); |
void control_update(void); |
#define STICK_COMMAND_UNDEF 0 |
#define STICK_COMMAND_START 6 |
#define STICK_COMMAND_STOP 8 |
#define STICK_COMMAND_GYROCAL 2 |
#define STICK_COMMAND_ACCCAL 4 |
void control_senseStickCommands(void); |
uint8_t control_getStickCommand(void); |
uint8_t control_isStickCommandRepeated(void); |
void control_performPilotCalibrationCommands(uint8_t stickCommand); |
extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
extern uint8_t control_hasNewRCData(void); |
#endif //_CONTROL_H |
*/ |
/branches/dongfang_FC_rewrite/controlMixer.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
156,8 → 156,6 |
int16_t* RC_PRTY = RC_getPRTY(); |
int16_t* EC_PRTY = EC_getPRTY(); |
DebugOut.Analog[20] = RC_PRTY[CONTROL_THROTTLE]; |
control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
// This can be a CPU time killer if the function implementations are inefficient. |
/branches/dongfang_FC_rewrite/controlMixer.h |
---|
99,13 → 99,11 |
uint8_t controlMixer_getSignalQuality(void); |
/* |
* The controls operate in [-1024, 1024] just about. |
* Throttle is [0..255] just about. |
* The controls operate in a [-150 * CONTROL_SCALING, 150 * CONTROL_SCALING] interval |
* Throttle is [0..300 * CONTROL_SCALING]. |
* (just about. No precision needed). |
*/ |
// Scale controls to 1 byte: |
#define CONTROL_SCALING (1024/256) |
// Scale throttle levels to byte: |
#define MOTOR_SCALING (1024/256) |
/* |
/branches/dongfang_FC_rewrite/dongfangMath.h |
---|
14,8 → 14,7 |
//#define MATH_UNIT_FACTOR 8192 |
// Changed: We want to be able to multiply 2 sines/cosines and still stay comfortably (factor 100) within 31 bits. |
// 4096 = 12 bits, square = 24 bits, 7 bits to spare. |
#define MATH_UNIT_FACTOR_LOG 12 |
#define MATH_UNIT_FACTOR (1L<<MATH_UNIT_FACTOR_LOG) |
#define MATH_UNIT_FACTOR 4096 |
int16_t int_sin(int32_t arg); |
int16_t int_cos(int32_t arg); |
/branches/dongfang_FC_rewrite/eeprom.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/flight.c |
---|
1,28 → 1,28 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
\// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + Nur f�r den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + auf anderen Webseiten oder Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// + mit unserer Zustimmung zul�ssig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
89,6 → 89,9 |
uint16_t Ki = 10300 / 33; |
uint8_t RequiredMotors = 0; |
// No support for altitude control right now. |
// int16_t SetPointHeight = 0; |
/************************************************************************/ |
/* Filter for motor value smoothing (necessary???) */ |
/************************************************************************/ |
176,6 → 179,7 |
// Fire the main flight attitude calculation, including integration of angles. |
calculateFlightAttitude(); |
J5HIGH; |
throttleTerm = controlThrottle; |
// This check removed. Is done on a per-motor basis, after output matrix multiplication. |
if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
257,6 → 261,8 |
if(throttleTerm > staticParams.LoopGasLimit) throttleTerm = staticParams.LoopGasLimit; |
} |
J5LOW; |
/************************************************************************/ |
/* Yawing */ |
/************************************************************************/ |
303,7 → 309,6 |
/* and angular velocity (gyro signal) */ |
/************************************************************************/ |
// The P-part is the P of the PID controller. That's the angle integrals (not rates). |
for (axis=PITCH; axis<=ROLL; axis++) { |
if(looping & ((1<<4)<<axis)) { |
PPart[axis] = 0; |
343,6 → 348,8 |
// Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
throttleTerm *= CONTROL_SCALING; |
J5HIGH; |
/* |
* Compose yaw term. |
* The yaw term is limited: Absolute value is max. = the throttle term / 2. |
384,6 → 391,8 |
DebugOut.Digital[0] |= DEBUG_CLIP; |
} |
J5LOW; |
// CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
DebugOut.Digital[1] &= ~DEBUG_CLIP; |
for (axis=PITCH; axis<=ROLL; axis++) { |
423,6 → 432,8 |
} |
// end part 3: 350 - 400 usec. |
J5HIGH; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Universal Mixer |
// Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
464,6 → 475,8 |
} |
I2C_Start(TWI_STATE_MOTOR_TX); |
J5LOW; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Debugging |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
/branches/dongfang_FC_rewrite/gps.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/main.c |
---|
1,28 → 1,28 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + Nur f�r den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + auf anderen Webseiten oder Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// + mit unserer Zustimmung zul�ssig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/menu.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/mk3mag.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/output.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/rc.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
129,11 → 129,11 |
/********************************************************************/ |
/* t-Frame |
<-----------------------------------------------------------------------> |
____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | |
| | | | | | | | | | | |
___| |_| |_| |_| |_.............| |________________| |
<-----><-------><------><--------> <------> <--- |
____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | |
| | | | | | | | | | | |
___| |_| |_| |_| |_.............| |________________| |
<-----><-------><------><--------> <------> <--- |
t0 t1 t2 t4 tn t0 |
The PPM-Frame length is 22.5 ms. |
251,9 → 251,6 |
if (NewPpmData-- == 0) { |
RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
+ RCDiff(CH_PITCH) * staticParams.StickD; |
DebugOut.Analog[21] = RCChannel(CH_THROTTLE); |
RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
+ RCDiff(CH_ROLL) * staticParams.StickD; |
RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
/branches/dongfang_FC_rewrite/spi.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/timer0.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/timer2.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/twimaster.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/uart0.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
143,8 → 143,8 |
"0th O Corr roll ", |
"DriftCompDelta P", |
"DriftCompDelta R", |
"StickP ", //20 |
"RC T ", |
"ACRollRate1 ", //20 |
"ACRollRate2 ", |
"M1 ", |
"M2 ", |
"M3 ", |
/branches/dongfang_FC_rewrite/uart1.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |