/dongfang_FC_rewrite_tool/configsets/ADXRS610/config.xml |
---|
1,4 → 1,4 |
<parameterset eepromVersion="3" length="84" name="hundeprut"> |
<parameterset eepromVersion="4" length="73" name="hundeprut"> |
<parameter name="bitConfig"> |
<bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="1" /> |
<bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="1" /> |
10,30 → 10,6 |
<bit name="CFG_GYRO_SATURATION_PREVENTION" value="1" /> |
</parameter> |
<parameter name="gyroQuadrant" value="0" /> |
<parameter name="accQuadrant" value="4" /> |
<parameter name="imuReversedFlags"> |
<bit name="IMU_REVERSE_GYRO_PR" value="0" /> |
<bit name="IMU_REVERSE_GYRO_YAW" value="0" /> |
<bit name="IMU_REVERSE_ACC_XY" value="1" /> |
<bit name="IMU_REVERSE_ACC_Z" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
</parameter> |
<parameter name="gyroPIDFilterConstant" value="1" /> |
<parameter name="gyroDFilterConstant" value="1" /> |
<parameter name="accFilterConstant" value="15" /> |
<parameter name="zerothOrderCorrection" value="10" /> |
<parameter name="rateTolerance" value="100" /> |
<parameter name="yawRateFactor" value="64" /> |
<parameter name="driftCompDivider" value="2" /> |
<parameter name="driftCompLimit" value="0" /> |
<parameter name="levelCorrectionPitch" value="var1" /> |
<parameter name="levelCorrectionRoll" value="var2" /> |
70,7 → 46,7 |
<parameter name="airpressureFilterConstant" value="8" /> |
<parameter name="airpressureWindowLength" value="0" /> |
<parameter name="airpressureDWindowLength" value="24" /> |
<parameter name="airpressureAccZCorrection" value="184" /> |
<parameter name="airpressureAccZCorrection" value="0" /> <!-- 184 for my 2.0 board. --> |
<parameter name="heightP" value="110" /> |
<parameter name="heightI" value="90" /> |
<parameter name="heightD" value="25" /> <!-- 30 --> |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/comm/MKInputStream.java |
---|
374,6 → 374,7 |
f.setConfigurationSetNumber(base64InputStream.readByte()); |
f.setConfigurationVersion(base64InputStream.readByte()); |
int length = base64InputStream.readByte(); |
f.setConfigurationSetLength(length); |
f.setData(base64InputStream.readBytes(length)); |
result = f; |
break; |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/ConfigSet.java |
---|
258,8 → 258,13 |
return declaredSections; |
} |
public void setData(int[] data) { |
public void setData(int[] data) throws IOException { |
int offset = 0; |
int dataLength = data.length - 12; |
if (dataLength != getByteCount()) { |
throw new IOException("The received number of databytes (" + dataLength + ") was not equal to the length of the declared parameter set(" + getByteCount()+")."); |
} |
for (ConfigEntry entry : entries) { |
offset += entry.setValue(data, offset); |
} |
323,6 → 328,10 |
"/parametertemplate/@eepromVersion", doc); |
int eepromVersion = Integer.parseInt(s_eepromVersion); |
String s_declaredLength = xpath.evaluate( |
"/parametertemplate/@length", doc); |
int declaredLength = Integer.parseInt(s_declaredLength); |
if (eepromVersion != version) { |
throw new IOException( |
"Version mismatch between file name (" |
406,6 → 415,9 |
} |
} |
result.name = "" + version; |
if (result.getByteCount() != declaredLength) { |
throw new IOException("The number of parameters in the set (" + result.getEntries().size() + ") was not equal to the declared length (" + declaredLength + ")."); |
} |
return result; |
} catch (IOException ex) { |
throw ex; |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/UniversalReadParamSetResponseFrame.java |
---|
3,6 → 3,7 |
public class UniversalReadParamSetResponseFrame extends ResponseFrame { |
private int configurationSetNumber; |
private int configurationVersion; |
private int length; |
private int[] data; |
public UniversalReadParamSetResponseFrame(int address) { |
30,6 → 31,14 |
this.configurationVersion = configurationVersion; |
} |
public int getConfigurationSetLength() { |
return length; |
} |
public void setConfigurationSetLength(int configurationSetLength) { |
this.length = configurationSetLength; |
} |
public int[] getData() { |
return data; |
} |