| /branches/dongfang_FC_rewrite/analog.c |
|---|
| 476,8 → 476,6 |
| // Even if the sample is off-range, use it. |
| simpleAirPressure = getSimplePressure(rawAirPressure); |
| // debugOut.analog[6] = rawAirPressure; |
| // debugOut.analog[7] = simpleAirPressure; |
| if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
| // Danger: pressure near lower end of range. If the measurement saturates, the |
| /branches/dongfang_FC_rewrite/attitude.c |
|---|
| 293,7 → 293,7 |
| driftComp[axis] += deltaCorrection / IMUConfig.driftCompDivider; |
| CHECK_MIN_MAX(driftComp[axis], -IMUConfig.driftCompLimit, IMUConfig.driftCompLimit); |
| // DebugOut.Analog[11 + axis] = correctionSum[axis]; |
| debugOut.analog[6 + axis] = correctionSum[axis]; |
| debugOut.analog[18 + axis] = correctionSum[axis]; |
| debugOut.analog[13 + axis] = driftComp[axis]; |
| correctionSum[axis] = 0; |
| } |
| /branches/dongfang_FC_rewrite/configuration.c |
|---|
| 298,7 → 298,7 |
| /* Default Values for R/C Channels */ |
| /***************************************************/ |
| void channelMap_default(void) { |
| channelMap.RCPolarity = 1; |
| channelMap.RCPolarity = 0; |
| channelMap.channels[CH_PITCH] = 1; |
| channelMap.channels[CH_ROLL] = 0; |
| channelMap.channels[CH_THROTTLE] = 2; |
| /branches/dongfang_FC_rewrite/eeprom.c |
|---|
| 8,6 → 8,7 |
| #include "configuration.h" |
| #include <avr/wdt.h> |
| #include <avr/eeprom.h> |
| #include <avr/interrupt.h> |
| // byte array in eeprom |
| uint8_t EEPromArray[E2END + 1] EEMEM; |
| 61,10 → 62,13 |
| // length is the length of the pure data not including checksum and revision number. |
| void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) { |
| uint16_t CRC = CRC16(data, length); |
| uint8_t sreg = SREG; |
| cli(); |
| eeprom_write_byte(&EEPromArray[offset], CRC&0xff); |
| eeprom_write_byte(&EEPromArray[offset+1], CRC>>8); |
| eeprom_write_byte(&EEPromArray[offset+2], revisionNumber); |
| eeprom_write_block(data, &EEPromArray[offset+3], length); |
| SREG = sreg; |
| } |
| // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
| 101,7 → 105,6 |
| void paramSet_writeToEEProm(uint8_t setnumber) { |
| uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
| writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
| // set this parameter set to active set |
| } |
| void paramSet_readOrDefault() { |
| /branches/dongfang_FC_rewrite/flight.c |
|---|
| 256,6 → 256,13 |
| debugOut.analog[3] = rate_ATT[PITCH]; |
| debugOut.analog[4] = rate_ATT[ROLL]; |
| debugOut.analog[5] = yawRate; |
| debugOut.analog[6] = getAngleEstimateFromAcc(PITCH) / (int32_t)GYRO_DEG_FACTOR_PITCHROLL; |
| debugOut.analog[7] = getAngleEstimateFromAcc(ROLL) / (int32_t)GYRO_DEG_FACTOR_PITCHROLL; |
| debugOut.analog[8] = acc[Z]; |
| debugOut.analog[9] = controls[CONTROL_PITCH]; |
| debugOut.analog[10] = controls[CONTROL_ROLL]; |
| } |
| /* |
| /branches/dongfang_FC_rewrite/makefile |
|---|
| 1,6 → 1,6 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| MCU = atmega644p |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| 20,18 → 20,18 |
| #EXT = MK3MAG |
| EXT = |
| GYRO=ENC-03_FC1.3 |
| GYRO_HW_NAME=ENC |
| GYRO_HW_FACTOR=1.304f |
| #GYRO=ENC-03_FC1.3 |
| #GYRO_HW_NAME=ENC |
| #GYRO_HW_FACTOR=1.304f |
| #GYRO_PITCHROLL_CORRECTION=1.0f |
| #GYRO_YAW_CORRECTION=1.0f |
| GYRO=ADXRS610_FC2.0 |
| GYRO_HW_NAME=ADXR |
| GYRO_HW_FACTOR=1.2288f |
| GYRO_PITCHROLL_CORRECTION=1.0f |
| GYRO_YAW_CORRECTION=1.0f |
| #GYRO=ADXRS610_FC2.0 |
| #GYRO_HW_NAME=ADXR |
| #GYRO_HW_FACTOR=1.2288f |
| #GYRO_PITCHROLL_CORRECTION=1.0f |
| #GYRO_YAW_CORRECTION=1.0f |
| #GYRO=invenSense |
| #GYRO_HW_NAME=Isense |
| #GYRO_HW_FACTOR=0.6827f |
| /branches/dongfang_FC_rewrite/timer2.c |
|---|
| 151,6 → 151,8 |
| recalculateServoTimes = 0; |
| } |
| uint8_t servoMap[] = {2,3,0,1,4,5,6,7}; |
| ISR(TIMER2_COMPA_vect) { |
| static uint16_t remainingPulseTime; |
| static uint8_t servoIndex = 0; |
| 160,7 → 162,7 |
| // Pulse is over, and the next pulse has already just started. Calculate length of next pulse. |
| if (servoIndex < staticParams.servoCount) { |
| // There are more signals to output. |
| sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]); |
| sumOfPulseTimes += (remainingPulseTime = servoValues[servoMap[servoIndex]]); |
| servoIndex++; |
| } else { |
| // There are no more signals. Reset the counter and make this pulse cover the missing frame time. |
| /branches/dongfang_FC_rewrite/uart0.c |
|---|
| 94,12 → 94,12 |
| "GyroPitch ", |
| "GyroRoll ", |
| "GyroYaw ", //5 |
| "correctionSum pi", |
| "correctionSum ro", |
| "ThrottleTerm ", |
| "YawTerm ", |
| "gyroDPitch ", //10 |
| "gyroDRoll ", |
| "AccPitch(0.1deg)", |
| "AccRoll(0.1deg) ", |
| "AccZ ", |
| "RC pitch ", |
| "RC roll ", //10 |
| " ", |
| "zerothOrderCorr ", |
| "DriftCompPitch ", |
| "DriftCompRoll ", |
| 106,8 → 106,8 |
| "GActivityDivider", //15 |
| "AccPitch ", |
| "AccRoll ", |
| " ", |
| " ", |
| "CorrectionSum pi", |
| "CorrectionSum ro", |
| "control act wghd", //20 |
| "acc vector wghd ", |
| "Height[dm] ", |