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#include <inttypes.h>
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#include <inttypes.h>
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#include <avr/io.h>
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#include <avr/io.h>
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typedef struct {
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typedef struct {
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        uint8_t HeightD;
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  /*PMM*/ uint8_t HeightD;
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        uint8_t MaxHeight;
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  /* P */ uint8_t MaxHeight;
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        uint8_t HeightP;
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  /*PMM*/ uint8_t HeightP;
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        uint8_t Height_ACC_Effect;
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  /* P */ uint8_t Height_ACC_Effect;
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        uint8_t CompassYawEffect;
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  /* P */ uint8_t CompassYawEffect;
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        uint8_t GyroD;
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  /* P */ uint8_t GyroD;
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        uint8_t GyroP;
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  /*PMM*/ uint8_t GyroP;
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        uint8_t GyroI;
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  /* P */ uint8_t GyroI;
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        uint8_t StickYawP;
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  /* Never used */ uint8_t StickYawP;
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        uint8_t IFactor;
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        uint8_t UserParams[8];
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  /*
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        uint8_t UserParam2;
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        uint8_t UserParam3;
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        uint8_t UserParam4;
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        uint8_t UserParam5;
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        uint8_t UserParam6;
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        uint8_t UserParam7;
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        uint8_t UserParam8;
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  /* P */ uint8_t IFactor;
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  */
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  /* P */ uint8_t UserParams[8];
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        uint8_t ServoPitchControl;
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  /* P */ uint8_t ServoPitchControl;
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        uint8_t LoopGasLimit;
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  /* P */ uint8_t LoopGasLimit;
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        uint8_t AxisCoupling1;
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  /* P */ uint8_t AxisCoupling1;
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        uint8_t AxisCoupling2;
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  /* P */ uint8_t AxisCoupling2;
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        uint8_t AxisCouplingYawCorrection;
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  /* P */ uint8_t AxisCouplingYawCorrection;
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        uint8_t DynamicStability;
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  /* P */ uint8_t DynamicStability;
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        uint8_t ExternalControl;
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  /* P */ uint8_t ExternalControl;
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        uint8_t J16Timing;
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        uint8_t J17Timing;
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  /*PMM*/ uint8_t J16Timing;
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        #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
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  /*PMM*/ uint8_t J17Timing;
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        uint8_t NaviGpsModeControl;
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  /* P */ uint8_t NaviGpsModeControl;
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        uint8_t NaviGpsGain;
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  /* P */ uint8_t NaviGpsGain;
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        uint8_t NaviGpsP;
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  /* P */ uint8_t NaviGpsP;
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        uint8_t NaviGpsI;
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  /* P */ uint8_t NaviGpsI;
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        uint8_t NaviGpsD;
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  /* P */ uint8_t NaviGpsD;
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        uint8_t NaviGpsACC;
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  /* P */ uint8_t NaviGpsACC;
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        uint8_t NaviOperatingRadius;
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  /*PMM*/ uint8_t NaviOperatingRadius;
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        uint8_t NaviWindCorrection;
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        uint8_t NaviSpeedCompensation;
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  /* P */ uint8_t NaviWindCorrection;
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        #endif
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  /* P */ uint8_t NaviSpeedCompensation;
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        int8_t KalmanK;
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  int8_t KalmanK;
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        int8_t KalmanMaxDrift;
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  int8_t KalmanMaxDrift;
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  int8_t KalmanMaxFusion;
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} dynamicParam_t;
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extern dynamicParam_t dynamicParams;
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typedef struct {
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  uint8_t sourceIdx, targetIdx;
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  uint8_t min, max;
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        int8_t KalmanMaxFusion;
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} MMXLATION;
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} fc_param_t;
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typedef struct {
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  uint8_t sourceIdx, targetIdx;
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extern fc_param_t dynamicParams;
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} XLATION;
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#define CFG_COMPASS_FIX         (1<<4)
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#define CFG_COMPASS_FIX         (1<<4)
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#define CFG_GPS_ACTIVE          (1<<5)
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#define CFG_GPS_ACTIVE          (1<<5)
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#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
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#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
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#define CFG_ROTARY_RATE_LIMITER (1<<7)
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#define CFG_ROTARY_RATE_LIMITER (1<<7)
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// bit mask for ParamSet.BitConfig
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// bit mask for staticParams.BitConfig
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#define CFG_LOOP_UP             (1<<0)
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#define CFG_LOOP_UP             (1<<0)
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#define CFG_LOOP_DOWN           (1<<1)
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#define CFG_LOOP_DOWN           (1<<1)
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#define CFG_LOOP_LEFT           (1<<2)
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#define CFG_LOOP_LEFT           (1<<2)
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#define CFG_LOOP_RIGHT          (1<<3)
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#define CFG_LOOP_RIGHT          (1<<3)