| /branches/dongfang_FC_fixedwing/configuration.c |
|---|
| 155,14 → 155,14 |
| for (uint8_t i=0; i<3; i++) { |
| staticParams.gyroPID[i].P = 200; |
| staticParams.gyroPID[i].I = 80; |
| staticParams.gyroPID[i].I = 40; |
| staticParams.gyroPID[i].D = 40; |
| staticParams.gyroPID[i].iMax = 30; |
| staticParams.gyroPID[i].iMax = 45; |
| } |
| staticParams.stickIElevator = 60; |
| staticParams.stickIAilerons = 80; |
| staticParams.stickIRudder = 25; |
| staticParams.stickIElevator = 40; |
| staticParams.stickIAilerons = 60; |
| staticParams.stickIRudder = 20; |
| // Outputs |
| staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
| 170,7 → 170,7 |
| staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
| staticParams.outputFlash[1].timing = 15; |
| staticParams.outputDebugMask = 8; |
| staticParams.outputDebugMask = 0; |
| staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
| } |
| /branches/dongfang_FC_fixedwing/flight.c |
|---|
| 115,13 → 115,13 |
| int32_t tmp; |
| tmp = ((int32_t)controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> LOG_STICK_SCALE; |
| if (reverse[PITCH]) target[PITCH] -= tmp; else target[PITCH] += tmp; |
| if (reverse[PITCH]) target[PITCH] += tmp; else target[PITCH] -= tmp; |
| tmp = ((int32_t)controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> LOG_STICK_SCALE; |
| if (reverse[ROLL]) target[ROLL] -= tmp; else target[ROLL] += tmp; |
| if (reverse[ROLL]) target[ROLL] += tmp; else target[ROLL] -= tmp; |
| tmp = ((int32_t)controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> LOG_STICK_SCALE; |
| if (reverse[YAW]) target[YAW] -= tmp; else target[YAW] += tmp; |
| if (reverse[YAW]) target[YAW] += tmp; else target[YAW] -= tmp; |
| for (axis = PITCH; axis <= YAW; axis++) { |
| if (target[axis] > OVER180) { |