| 3,13 → 3,13 |
|---|
| |
| #include <inttypes.h> |
| |
| #define EEPROM_ADR_PARAM_BEGIN 0 |
| #define EEPROM_ADR_PARAM_BEGIN 0 |
| #define PID_VERSION 1 // byte |
| #define PID_ACTIVE_SET 2 // byte |
| #define PID_PRESSURE_OFFSET 3 // byte |
| #define PID_ACC_NICK 4 // word |
| #define PID_ACC_ROLL 6 // word |
| #define PID_ACC_Z 8 // word |
| #define PID_ACC_TOP 8 // word |
| |
| #ifdef USE_KILLAGREG |
| #define PID_MM3_X_OFF 10 // byte |
| 20,8 → 20,11 |
|---|
| #define PID_MM3_Z_RANGE 17 // word |
| #endif |
| |
| #define EEPROM_ADR_PARAMSET_BEGIN 100 |
| #define EEPROM_ADR_CHANNELS 80 // 8 bytes |
| |
| #define EEPROM_ADR_PARAMSET_LENGTH 98 // word |
| #define EEPROM_ADR_PARAMSET_BEGIN 100 |
| |
| // bit mask for ParamSet.GlobalConfig |
| #define CFG_HEIGHT_CONTROL 0x01 |
| #define CFG_HEIGHT_SWITCH 0x02 |
| 49,77 → 52,83 |
|---|
| #define CH_POTI3 6 |
| #define CH_POTI4 7 |
| |
| #define EEPARAM_VERSION 73 // is count up, if EE_Paramater stucture has changed (compatibility) |
| #define EEPARAM_VERSION 74 // is count up, if EE_Paramater stucture has changed (compatibility) |
| |
| // values above 250 representing poti1 to poti4 |
| typedef struct |
| { |
| uint8_t ChannelAssignment[8]; // see upper defines for details |
| uint8_t GlobalConfig; // see upper defines for bitcoding |
| uint8_t Height_MinGas; // Wert : 0-100 |
| uint8_t Height_D; // Wert : 0-250 |
| uint8_t MaxHeight; // Wert : 0-32 |
| uint8_t Height_P; // Wert : 0-32 |
| uint8_t Height_Gain; // Wert : 0-50 |
| uint8_t Height_ACC_Effect; // Wert : 0-250 |
| uint8_t Stick_P; // Wert : 1-6 |
| uint8_t Stick_D; // Wert : 0-64 |
| uint8_t Yaw_P; // Wert : 1-20 |
| uint8_t Gas_Min; // Wert : 0-32 |
| uint8_t Gas_Max; // Wert : 33-250 |
| uint8_t GyroAccFactor; // Wert : 1-64 |
| uint8_t CompassYawEffect; // Wert : 0-32 |
| uint8_t Gyro_P; // Wert : 10-250 |
| uint8_t Gyro_I; // Wert : 0-250 |
| uint8_t LowVoltageWarning; // Wert : 0-250 |
| uint8_t EmergencyGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| uint8_t EmergencyGasDuration; // Wert : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
| uint8_t UfoArrangement; // x oder + Formation |
| uint8_t I_Factor; // Wert : 0-250 |
| uint8_t UserParam1; // Wert : 0-250 |
| uint8_t UserParam2; // Wert : 0-250 |
| uint8_t UserParam3; // Wert : 0-250 |
| uint8_t UserParam4; // Wert : 0-250 |
| uint8_t ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| uint8_t ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| uint8_t ServoNickMin; // Wert : 0-250 // Anschlag |
| uint8_t ServoNickMax; // Wert : 0-250 // Anschlag |
| uint8_t ServoNickRefresh; // |
| uint8_t LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| uint8_t LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| uint8_t LoopHysteresis; // Wert: 0-250 Hysterese für Stickausschlag |
| uint8_t Yaw_PosFeedback; // Wert: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| uint8_t Yaw_NegFeedback; // Wert: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
| uint8_t AngleTurnOverNick; // Wert: 0-250 180°-Punkt |
| uint8_t AngleTurnOverRoll; // Wert: 0-250 180°-Punkt |
| uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
| uint8_t DriftComp; |
| uint8_t DynamicStability; |
| uint8_t UserParam5; // Wert : 0-250 |
| uint8_t UserParam6; // Wert : 0-250 |
| uint8_t UserParam7; // Wert : 0-250 |
| uint8_t UserParam8; // Wert : 0-250 |
| uint8_t J16Bitmask; // for the J16 Output |
| uint8_t J16Timing; // for the J16 Output |
| uint8_t J17Bitmask; // for the J17 Output |
| uint8_t J17Timing; // for the J17 Output |
| uint8_t NaviGpsModeControl; // Parameters for the Naviboard |
| uint8_t NaviGpsGain; // overall gain for GPS-PID controller |
| uint8_t NaviGpsP; // P gain for GPS-PID controller |
| uint8_t NaviGpsI; // I gain for GPS-PID controller |
| uint8_t NaviGpsD; // D gain for GPS-PID controller |
| uint8_t NaviGpsACC; // ACC gain for GPS-PID controller |
| uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions |
| uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements |
| uint8_t NaviWindCorrection; // streng of wind course correction |
| uint8_t NaviSpeedCompensation; |
| uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights |
| uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
| uint8_t ExternalControl; // for serial Control |
| uint8_t BitConfig; // see upper defines for bitcoding |
| uint8_t ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| uint8_t Reserved[4]; |
| int8_t Name[12]; |
| { |
| uint8_t ChannelAssignment[8]; // see upper defines for details |
| uint8_t GlobalConfig; // see upper defines for bitcoding |
| uint8_t HeightMinGas; // Wert : 0-100 |
| uint8_t HeightD; // Wert : 0-250 |
| uint8_t MaxHeight; // Wert : 0-32 |
| uint8_t HeightP; // Wert : 0-32 |
| uint8_t Height_Gain; // Wert : 0-50 |
| uint8_t Height_ACC_Effect; // Wert : 0-250 |
| uint8_t StickP; // Wert : 1-6 |
| uint8_t StickD; // Wert : 0-64 |
| uint8_t StickYawP; // Wert : 1-20 |
| uint8_t GasMin; // Wert : 0-32 |
| uint8_t GasMax; // Wert : 33-250 |
| uint8_t GyroAccFactor; // Wert : 1-64 |
| uint8_t CompassYawEffect; // Wert : 0-32 |
| uint8_t GyroP; // Wert : 10-250 |
| uint8_t GyroI; // Wert : 0-250 |
| uint8_t GyroD; // Wert : 0-250 |
| uint8_t LowVoltageWarning; // Wert : 0-250 |
| uint8_t EmergencyGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| uint8_t EmergencyGasDuration; // Wert : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
| uint8_t UfoArrangement; // x oder + Formation |
| uint8_t IFactor; // Wert : 0-250 |
| uint8_t UserParam1; // Wert : 0-250 |
| uint8_t UserParam2; // Wert : 0-250 |
| uint8_t UserParam3; // Wert : 0-250 |
| uint8_t UserParam4; // Wert : 0-250 |
| uint8_t ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| uint8_t ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| uint8_t ServoNickMin; // Wert : 0-250 // Anschlag |
| uint8_t ServoNickMax; // Wert : 0-250 // Anschlag |
| uint8_t ServoRefresh; // Wert: 0-250 // Refreshrate of servo pwm output |
| uint8_t LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| uint8_t LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| uint8_t LoopHysteresis; // Wert: 0-250 Hysterese für Stickausschlag |
| uint8_t AxisCoupling1; // Wert: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| uint8_t AxisCoupling2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| uint8_t AxisCouplingYawCorrection;// Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| uint8_t AngleTurnOverNick; // Wert: 0-250 180°-Punkt |
| uint8_t AngleTurnOverRoll; // Wert: 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 |
| uint8_t UserParam5; // Wert : 0-250 |
| uint8_t UserParam6; // Wert : 0-250 |
| uint8_t UserParam7; // Wert : 0-250 |
| uint8_t UserParam8; // Wert : 0-250 |
| uint8_t J16Bitmask; // for the J16 Output |
| uint8_t J16Timing; // for the J16 Output |
| uint8_t J17Bitmask; // for the J17 Output |
| uint8_t J17Timing; // for the J17 Output |
| uint8_t NaviGpsModeControl; // Parameters for the Naviboard |
| uint8_t NaviGpsGain; // overall gain for GPS-PID controller |
| uint8_t NaviGpsP; // P gain for GPS-PID controller |
| uint8_t NaviGpsI; // I gain for GPS-PID controller |
| uint8_t NaviGpsD; // D gain for GPS-PID controller |
| uint8_t NaviGpsPLimit; // P limit for GPS-PID controller |
| uint8_t NaviGpsILimit; // I limit for GPS-PID controller |
| uint8_t NaviGpsDLimit; // D limit for GPS-PID controller |
| uint8_t NaviGpsACC; // ACC gain for GPS-PID controller |
| uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions |
| uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements |
| uint8_t NaviWindCorrection; // streng of wind course correction |
| uint8_t NaviSpeedCompensation; // D gain fefore position hold login |
| uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights |
| uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
| uint8_t NaviPHLoginTime; // position hold logintimeout |
| uint8_t ExternalControl; // for serial Control |
| uint8_t BitConfig; // see upper defines for bitcoding |
| uint8_t ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| uint8_t Reserved[4]; |
| int8_t Name[12]; |
| } paramset_t; |
| |
| #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |