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| Line 53... | Line 53... | ||
| 53 | #include <stddef.h> |
53 | #include <stddef.h> |
| 54 | #include <string.h> |
54 | #include <string.h> |
| 55 | #include "configuration.h" |
55 | #include "configuration.h" |
| 56 | #include "sensors.h" |
56 | #include "sensors.h" |
| 57 | #include "rc.h" |
57 | #include "rc.h" |
| 58 | //#include "uart0.h" |
- | |
| 59 | #include "output.h" |
58 | #include "output.h" |
| Line 60... | Line 59... | ||
| 60 | 59 | ||
| 61 | int16_t variables[VARIABLE_COUNT]; |
60 | int16_t variables[VARIABLE_COUNT]; |
| 62 | ParamSet_t staticParams; |
61 | ParamSet_t staticParams; |
| Line 85... | Line 84... | ||
| 85 | #define SET_POT_MM(b,a,min,max) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a; if(b<=min) b=min; else if(b>=max) b=max;} |
84 | #define SET_POT_MM(b,a,min,max) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a; if(b<=min) b=min; else if(b>=max) b=max;} |
| 86 | #define SET_POT(b,a) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;} |
85 | #define SET_POT(b,a) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;} |
| 87 | SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200); |
86 | SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200); |
| 88 | SET_POT(dynamicParams.gyroI, staticParams.gyroI); |
87 | SET_POT(dynamicParams.gyroI, staticParams.gyroI); |
| 89 | SET_POT(dynamicParams.gyroD, staticParams.gyroD); |
88 | SET_POT(dynamicParams.gyroD, staticParams.gyroD); |
| 90 | SET_POT(dynamicParams.compassFixedHeading,staticParams.compassFixedHeading); |
89 | //SET_POT(dynamicParams.compassControlHeading,staticParams.compassControlHeading); |
| Line 91... | Line 90... | ||
| 91 | 90 | ||
| 92 | SET_POT(dynamicParams.externalControl, staticParams.externalControl); |
91 | SET_POT(dynamicParams.externalControl, staticParams.externalControl); |
| 93 | SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability); |
92 | SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability); |
| Line 249... | Line 248... | ||
| 249 | staticParams.dynamicStability = 50; |
248 | staticParams.dynamicStability = 50; |
| 250 | staticParams.maxAccVector = 10; |
249 | staticParams.maxAccVector = 10; |
| 251 | staticParams.IFactor = 32; |
250 | staticParams.IFactor = 32; |
| 252 | staticParams.yawIFactor = 100; |
251 | staticParams.yawIFactor = 100; |
| 253 | staticParams.compassYawCorrection = 64; |
252 | staticParams.compassYawCorrection = 64; |
| 254 | staticParams.compassFixedHeading = 0; |
253 | staticParams.compassP = 50; |
| 255 | staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
254 | staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
| Line 256... | Line 255... | ||
| 256 | 255 | ||
| 257 | // Servos |
256 | // Servos |
| 258 | staticParams.servoCount = 7; |
257 | staticParams.servoCount = 7; |
| Line 292... | Line 291... | ||
| 292 | for (uint8_t i=0; i<8; i++) { |
291 | for (uint8_t i=0; i<8; i++) { |
| 293 | staticParams.userParams[i] = 0; |
292 | staticParams.userParams[i] = 0; |
| 294 | } |
293 | } |
| Line 295... | Line 294... | ||
| 295 | 294 | ||
| 296 | staticParams.bitConfig = |
295 | staticParams.bitConfig = |
| Line 297... | Line 296... | ||
| 297 | CFG_GYRO_SATURATION_PREVENTION | CFG_HEADING_HOLD | CFG_COMPASS_ACTIVE; |
296 | CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED; |
| 298 | 297 | ||
| Line 299... | Line 298... | ||
| 299 | memcpy(staticParams.name, "Default\0", 6); |
298 | memcpy(staticParams.name, "Default\0", 6); |