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Ignore whitespace Rev 1612 → Rev 1613

/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);
}