/dongfang_FC_rewrite_tool/configsets/imu.xml |
---|
0,0 → 1,26 |
<imuconfiguration eepromVersion="0" length="12" > |
<parameter name="gyroQuadrant" value="2" /> |
<parameter name="accQuadrant" value="0" /> |
<parameter name="imuReversedFlags" type="bitset"> |
<bit name="IMU_REVERSE_GYRO_PR" value="0"/> |
<bit name="IMU_REVERSE_GYRO_YAW" value="0" /> |
<bit name="IMU_REVERSE_ACC_XY" value="0" /> |
<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="4" /> |
<parameter name="gyroDWindowLength" value="3" /> |
<parameter name="gyroDFilterConstant" value="1" /> |
<parameter name="accFilterConstant" value="10" /> |
<parameter name="zerothOrderCorrection" value="1" /> |
<parameter name="rateTolerance" value="120" /> |
<parameter name="gyroActivityDamping" value="8" /> |
<parameter name="driftCompDivider" value="2" /> |
<parameter name="driftCompLimit" value="5" /> |
</imuconfiguration> |
/dongfang_FC_rewrite_tool/configsets/templates/imuconfiguration_v0.xml |
---|
14,6 → 14,7 |
<parameter name="gyroPIDFilterConstant" /> |
<parameter name="gyroDWindowLength" /> |
<parameter name="gyroDFilterConstant" /> |
<parameter name="accFilterConstant" /> |
<parameter name="zerothOrderCorrection" /> |
22,5 → 23,4 |
<parameter name="driftCompDivider" /> |
<parameter name="driftCompLimit" /> |
<parameter name="hae" /> |
</imuconfigurationtemplate> |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/WriteIMUConfigurationRequestFrame.java |
---|
0,0 → 1,34 |
package dongfang.mkt.frames; |
import java.io.IOException; |
import dongfang.mkt.RequestFrameVisitor; |
public class WriteIMUConfigurationRequestFrame extends RequestFrame { |
private int[] data; |
private int configurationVersionNumber; |
public WriteIMUConfigurationRequestFrame(int configurationVersionNumber, int[] data) { |
super(FC_ADDRESS); |
this.configurationVersionNumber = configurationVersionNumber; |
this.data = data; |
} |
@Override |
public void accept(RequestFrameVisitor o) throws IOException { |
o.visit(this); |
} |
public int getConfigurationVersionNumber() { |
return configurationVersionNumber; |
} |
public int getDataLength() { |
return data.length; |
} |
public int[] getData() { |
return data; |
} |
} |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/main/IMUConfigurator.java |
---|
111,7 → 111,7 |
eepromVersion = Integer.parseInt(s_eepromVersion); |
} catch (NumberFormatException ex) { |
System.err |
.println("The imuconfiguration element must have an 'eepromVersion' attribute with a numerical value (eg.<parameterset eepromVersion='74'>)"); |
.println("The imuconfiguration element must have an 'eepromVersion' attribute with a numerical value (eg.<imuconfiguration eepromVersion='74'>)"); |
System.exit(-1); |
} |