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Ignore whitespace Rev 1774 → Rev 1775

/branches/dongfang_FC_rewrite/configuration.h
5,53 → 5,50
#include <avr/io.h>
 
typedef struct {
uint8_t HeightD;
uint8_t MaxHeight;
uint8_t HeightP;
uint8_t Height_ACC_Effect;
uint8_t CompassYawEffect;
uint8_t GyroD;
uint8_t GyroP;
uint8_t GyroI;
uint8_t StickYawP;
uint8_t IFactor;
uint8_t UserParams[8];
/*
uint8_t UserParam2;
uint8_t UserParam3;
uint8_t UserParam4;
uint8_t UserParam5;
uint8_t UserParam6;
uint8_t UserParam7;
uint8_t UserParam8;
*/
uint8_t ServoPitchControl;
uint8_t LoopGasLimit;
uint8_t AxisCoupling1;
uint8_t AxisCoupling2;
uint8_t AxisCouplingYawCorrection;
uint8_t DynamicStability;
uint8_t ExternalControl;
uint8_t J16Timing;
uint8_t J17Timing;
#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
uint8_t NaviGpsModeControl;
uint8_t NaviGpsGain;
uint8_t NaviGpsP;
uint8_t NaviGpsI;
uint8_t NaviGpsD;
uint8_t NaviGpsACC;
uint8_t NaviOperatingRadius;
uint8_t NaviWindCorrection;
uint8_t NaviSpeedCompensation;
#endif
int8_t KalmanK;
int8_t KalmanMaxDrift;
int8_t KalmanMaxFusion;
} fc_param_t;
/*PMM*/ uint8_t HeightD;
/* P */ uint8_t MaxHeight;
/*PMM*/ uint8_t HeightP;
/* P */ uint8_t Height_ACC_Effect;
/* P */ uint8_t CompassYawEffect;
/* P */ uint8_t GyroD;
/*PMM*/ uint8_t GyroP;
/* P */ uint8_t GyroI;
/* Never used */ uint8_t StickYawP;
/* P */ uint8_t IFactor;
/* P */ uint8_t UserParams[8];
/* P */ uint8_t ServoPitchControl;
/* P */ uint8_t LoopGasLimit;
/* P */ uint8_t AxisCoupling1;
/* P */ uint8_t AxisCoupling2;
/* P */ uint8_t AxisCouplingYawCorrection;
/* P */ uint8_t DynamicStability;
/* P */ uint8_t ExternalControl;
/*PMM*/ uint8_t J16Timing;
/*PMM*/ uint8_t J17Timing;
/* P */ uint8_t NaviGpsModeControl;
/* P */ uint8_t NaviGpsGain;
/* P */ uint8_t NaviGpsP;
/* P */ uint8_t NaviGpsI;
/* P */ uint8_t NaviGpsD;
/* P */ uint8_t NaviGpsACC;
/*PMM*/ uint8_t NaviOperatingRadius;
/* P */ uint8_t NaviWindCorrection;
/* P */ uint8_t NaviSpeedCompensation;
int8_t KalmanK;
int8_t KalmanMaxDrift;
int8_t KalmanMaxFusion;
} dynamicParam_t;
extern dynamicParam_t dynamicParams;
 
extern fc_param_t dynamicParams;
typedef struct {
uint8_t sourceIdx, targetIdx;
uint8_t min, max;
} MMXLATION;
 
typedef struct {
uint8_t sourceIdx, targetIdx;
} XLATION;
 
// values above 250 representing poti1 to poti4
typedef struct {
uint8_t ChannelAssignment[8]; // see upper defines for details
164,7 → 161,7
#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
#define CFG_ROTARY_RATE_LIMITER (1<<7)
 
// bit mask for ParamSet.BitConfig
// bit mask for staticParams.BitConfig
#define CFG_LOOP_UP (1<<0)
#define CFG_LOOP_DOWN (1<<1)
#define CFG_LOOP_LEFT (1<<2)