WebSVN - FlightCtrl - Diff - Rev 2142 and 2143 - /branches/dongfang_FC


#include <util/delay.h>
#include <stddef.h>
#include <string.h>
#include "configuration.h"
#include "controlMixer.h"
#include "rc.h"
#include "output.h"
#include "sensors.h"
#include "flight.h"
 
int16_t variables[VARIABLE_COUNT];
ParamSet_t staticParams;
ChannelMap_t channelMap;
RCTrim_t rcTrim;
IMUConfig_t IMUConfig;
volatile DynamicParams_t dynamicParams;
 
uint8_t CPUType;
uint8_t boardRelease;
 
VersionInfo_t versionInfo;
 
FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;
// updated by considering airspeed..
volatile uint16_t isFlying = 0;
 
const MMXLATION XLATIONS[] = {
{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
 
{offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255},
{offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255},
{offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255},
 
{offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255},
{offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255},
{offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255},
 
{offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255},
{offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255},
{offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255},
 
{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},
{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
};
 
uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
  uint8_t result;
  if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];
  else result = src;
  if (result < min) result = min;
  else if (result > max) result = max;
  return result;
}
 
void configuration_applyVariablesToParams(void) {
  uint8_t i, src;
  uint8_t* pointerToTgt;
 
  for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {
    src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx);
    pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;
    *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);
  }
 
  // User parameters are always variable.
  for (i=0; i<sizeof(staticParams.userParams); i++) {
    src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i);
    pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;
    *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
  }
}
 
void setCPUType(void) {   // works only after reset or power on when the registers have default values
  if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P;  // initial Values for 644P after reset
  else CPUType = ATMEGA644;
}
 
/*
 * Automatic detection of hardware components is not supported in this development-oriented
 * FC firmware. It would go against the point of it: To enable alternative hardware
 * configurations with otherwise unsupported components. Instead, one should write
 * custom code + adjust constants for the new hardware, and include the relevant code
 * from the makefile.
 * However - we still do detect the board release. Reason: Otherwise it would be too
 * tedious to have to modify the code for how to turn on and off LEDs when deploying
 * on different HW version....
 */
void setBoardRelease(void) {
  // the board release is coded via the pull up or down the 2 status LED
 
  PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate
  DDRB  &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input
 
  _delay_loop_2(1000); // make some delay
 
  switch( PINB & ((1<<PINB1)|(1<<PINB0))) {
    case 0x00:
      boardRelease = 10; // 1.0
      break;
    case 0x01:
      boardRelease = 11; // 1.1 or 1.2
      break;
    case 0x02:
      boardRelease = 20; // 2.0
      break;
    case 0x03:
      boardRelease = 13; // 1.3
      break;
    default:
      break;
    }
  // set LED ports as output
  DDRB |= (1<<DDB1)|(1<<DDB0);
  RED_OFF;
  GRN_OFF;
}
 
void configuration_setFlightParameters(uint8_t newFlightMode) {
        currentFlightMode = newFlightMode;
        flight_updateFlightParametersToFlightMode();
}
 
// Called after a change in configuration parameters, as a hook for modules to take over changes.
void configuration_paramSetDidChange(void) {
  // This should be OK to do here as long as we don't change parameters during emergency flight. We don't.
  configuration_setFlightParameters(currentFlightMode);
  // Immediately load changes to output, and also signal the paramset change.
  output_init();
}
 
void setOtherDefaults(void) {
  // Control
  staticParams.externalControl = 0;
  staticParams.IFactor = 52;
 
  staticParams.airspeedCorrection = 1;
  staticParams.isFlyingThreshold = 4;
 
  staticParams.minFlashAirspeed = 5;
  staticParams.maxFlashAirspeed = 9;
 
  // Servos
  staticParams.servoCount = 7;
  staticParams.servos[CONTROL_ELEVATOR].reverse = 1;
  staticParams.servos[CONTROL_AILERONS].reverse = 0;
  staticParams.servos[CONTROL_RUDDER].reverse = 1;
 
  // Battery warning and emergency flight
  staticParams.batteryWarningVoltage = 101;  // 3.7 each for 3S
 
  for (uint8_t i=0; i<3; i++) {
          staticParams.gyroPID[i].P = 80;
          staticParams.gyroPID[i].I = 40;
          staticParams.gyroPID[i].D = 40;
          staticParams.gyroPID[i].iMax = 45;
  }
 
  staticParams.stickIElevator = 40;
  staticParams.stickIAilerons = 60;
  staticParams.stickIRudder = 20;
 
  // Outputs
  staticParams.outputFlash[0].bitmask = 1; //0b01011111;
  staticParams.outputFlash[0].timing = 15;
  staticParams.outputFlash[1].bitmask = 3; //0b11110011;
  staticParams.outputFlash[1].timing = 15;
 
  staticParams.outputDebugMask = 0;
  staticParams.outputFlags   = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS;
}
 
/***************************************************/
/*    Default Values for parameter set 1           */
/***************************************************/
void paramSet_default(uint8_t setnumber) {
  setOtherDefaults();
 
  for (uint8_t i=0; i<8; i++) {
    staticParams.userParams[i] = i;
  }
 
  staticParams.bitConfig =
    CFG_GYRO_SATURATION_PREVENTION;
 
  memcpy(staticParams.name, "Default\0", 6);
}
 
void IMUConfig_default(void) {
  IMUConfig.gyroPIDFilterConstant = 8;
  IMUConfig.gyroDFilterConstant = 1;
  IMUConfig.rateTolerance = 120;
  IMUConfig.gyroDWindowLength = 8;
  IMUConfig.gyroQuadrant = 2;
  IMUConfig.imuReversedFlags = 0;
 
  gyro_setDefaultParameters();
}
 
/***************************************************/
/*    Default Values for R/C Channels              */
/***************************************************/
void channelMap_default(void) {
  channelMap.HWTrim = 178;
  channelMap.variableOffset = 128;
  channelMap.channels[CH_ELEVATOR] = 1;
  channelMap.channels[CH_AILERONS] = 0;
  channelMap.channels[CH_THROTTLE] = 2;
  channelMap.channels[CH_RUDDER]   = 3;
  channelMap.channels[CH_POTS + 0] = 4;
  channelMap.channels[CH_POTS + 1] = 5;
  channelMap.channels[CH_POTS + 2] = 6;
  channelMap.channels[CH_POTS + 3] = 7;
}
 

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/configuration.c - Rev 2142 → 2143

Rev 2142		Rev 2143
1	#include <util/delay.h>	1	#include <util/delay.h>
2	#include <stddef.h>	2	#include <stddef.h>
3	#include <string.h>	3	#include <string.h>
4	#include "configuration.h"	4	#include "configuration.h"
5	#include "controlMixer.h"	5	#include "controlMixer.h"
6	#include "rc.h"	6	#include "rc.h"
7	#include "output.h"	7	#include "output.h"
8	#include "sensors.h"	8	#include "sensors.h"
9	#include "flight.h"	9	#include "flight.h"
10		10
11	int16_t variables[VARIABLE_COUNT];	11	int16_t variables[VARIABLE_COUNT];
12	ParamSet_t staticParams;	12	ParamSet_t staticParams;
13	ChannelMap_t channelMap;	13	ChannelMap_t channelMap;
14	RCTrim_t rcTrim;	14	RCTrim_t rcTrim;
15	IMUConfig_t IMUConfig;	15	IMUConfig_t IMUConfig;
16	volatile DynamicParams_t dynamicParams;	16	volatile DynamicParams_t dynamicParams;
17		17
18	uint8_t CPUType;	18	uint8_t CPUType;
19	uint8_t boardRelease;	19	uint8_t boardRelease;
20		20
21	VersionInfo_t versionInfo;	21	VersionInfo_t versionInfo;
22		22
23	FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;	23	FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;
24	// updated by considering airspeed..	24	// updated by considering airspeed..
25	volatile uint16_t isFlying = 0;	25	volatile uint16_t isFlying = 0;
26		26
27	const MMXLATION XLATIONS[] = {	27	const MMXLATION XLATIONS[] = {
28	{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},	28	{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
29		29
30	{offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255},	30	{offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255},
31	{offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255},	31	{offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255},
32	{offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255},	32	{offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255},
33		33
34	{offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255},	34	{offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255},
35	{offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255},	35	{offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255},
36	{offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255},	36	{offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255},
37		37
38	{offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255},	38	{offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255},
39	{offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255},	39	{offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255},
40	{offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255},	40	{offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255},
41		41
42	{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},	42	{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},
43	{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},	43	{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
44	};	44	};
45		45
46	uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {	46	uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
47	uint8_t result;	47	uint8_t result;
48	if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];	48	if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];
49	else result = src;	49	else result = src;
50	if (result < min) result = min;	50	if (result < min) result = min;
51	else if (result > max) result = max;	51	else if (result > max) result = max;
52	return result;	52	return result;
53	}	53	}
54		54
55	void configuration_applyVariablesToParams(void) {	55	void configuration_applyVariablesToParams(void) {
56	uint8_t i, src;	56	uint8_t i, src;
57	uint8_t* pointerToTgt;	57	uint8_t* pointerToTgt;
58		58
59	for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {	59	for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {
60	src = ((uint8_t)(&staticParams) + XLATIONS[i].sourceIdx);	60	src = ((uint8_t)(&staticParams) + XLATIONS[i].sourceIdx);
61	pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;	61	pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;
62	*pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);	62	*pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);
63	}	63	}
64		64
65	// User parameters are always variable.	65	// User parameters are always variable.
66	for (i=0; i<sizeof(staticParams.userParams); i++) {	66	for (i=0; i<sizeof(staticParams.userParams); i++) {
67	src = ((uint8_t)(&staticParams) + offsetof(ParamSet_t, userParams) + i);	67	src = ((uint8_t)(&staticParams) + offsetof(ParamSet_t, userParams) + i);
68	pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;	68	pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;
69	*pointerToTgt = configuration_applyVariableToParam(src, 0, 255);	69	*pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
70	}	70	}
71	}	71	}
72		72
73	void setCPUType(void) { // works only after reset or power on when the registers have default values	73	void setCPUType(void) { // works only after reset or power on when the registers have default values
74	if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset	74	if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset
75	else CPUType = ATMEGA644;	75	else CPUType = ATMEGA644;
76	}	76	}
77		77
78	/*	78	/*
79	* Automatic detection of hardware components is not supported in this development-oriented	79	* Automatic detection of hardware components is not supported in this development-oriented
80	* FC firmware. It would go against the point of it: To enable alternative hardware	80	* FC firmware. It would go against the point of it: To enable alternative hardware
81	* configurations with otherwise unsupported components. Instead, one should write	81	* configurations with otherwise unsupported components. Instead, one should write
82	* custom code + adjust constants for the new hardware, and include the relevant code	82	* custom code + adjust constants for the new hardware, and include the relevant code
83	* from the makefile.	83	* from the makefile.
84	* However - we still do detect the board release. Reason: Otherwise it would be too	84	* However - we still do detect the board release. Reason: Otherwise it would be too
85	* tedious to have to modify the code for how to turn on and off LEDs when deploying	85	* tedious to have to modify the code for how to turn on and off LEDs when deploying
86	* on different HW version....	86	* on different HW version....
87	*/	87	*/
88	void setBoardRelease(void) {	88	void setBoardRelease(void) {
89	// the board release is coded via the pull up or down the 2 status LED	89	// the board release is coded via the pull up or down the 2 status LED
90		90
91	PORTB &= ~((1 << PORTB1)\|(1 << PORTB0)); // set tristate	91	PORTB &= ~((1 << PORTB1)\|(1 << PORTB0)); // set tristate
92	DDRB &= ~((1 << DDB0)\|(1 << DDB0)); // set port direction as input	92	DDRB &= ~((1 << DDB0)\|(1 << DDB0)); // set port direction as input
93		93
94	_delay_loop_2(1000); // make some delay	94	_delay_loop_2(1000); // make some delay
95		95
96	switch( PINB & ((1<<PINB1)\|(1<<PINB0))) {	96	switch( PINB & ((1<<PINB1)\|(1<<PINB0))) {
97	case 0x00:	97	case 0x00:
98	boardRelease = 10; // 1.0	98	boardRelease = 10; // 1.0
99	break;	99	break;
100	case 0x01:	100	case 0x01:
101	boardRelease = 11; // 1.1 or 1.2	101	boardRelease = 11; // 1.1 or 1.2
102	break;	102	break;
103	case 0x02:	103	case 0x02:
104	boardRelease = 20; // 2.0	104	boardRelease = 20; // 2.0
105	break;	105	break;
106	case 0x03:	106	case 0x03:
107	boardRelease = 13; // 1.3	107	boardRelease = 13; // 1.3
108	break;	108	break;
109	default:	109	default:
110	break;	110	break;
111	}	111	}
112	// set LED ports as output	112	// set LED ports as output
113	DDRB \|= (1<<DDB1)\|(1<<DDB0);	113	DDRB \|= (1<<DDB1)\|(1<<DDB0);
114	RED_OFF;	114	RED_OFF;
115	GRN_OFF;	115	GRN_OFF;
116	}	116	}
117		117
118	void configuration_setFlightParameters(uint8_t newFlightMode) {	118	void configuration_setFlightParameters(uint8_t newFlightMode) {
119	currentFlightMode = newFlightMode;	119	currentFlightMode = newFlightMode;
120	flight_updateFlightParametersToFlightMode();	120	flight_updateFlightParametersToFlightMode();
121	}	121	}
122		122
123	// Called after a change in configuration parameters, as a hook for modules to take over changes.	123	// Called after a change in configuration parameters, as a hook for modules to take over changes.
124	void configuration_paramSetDidChange(void) {	124	void configuration_paramSetDidChange(void) {
125	// This should be OK to do here as long as we don't change parameters during emergency flight. We don't.	125	// This should be OK to do here as long as we don't change parameters during emergency flight. We don't.
126	configuration_setFlightParameters(currentFlightMode);	126	configuration_setFlightParameters(currentFlightMode);
127	// Immediately load changes to output, and also signal the paramset change.	127	// Immediately load changes to output, and also signal the paramset change.
128	output_init();	128	output_init();
129	}	129	}
130		130
131	void setOtherDefaults(void) {	131	void setOtherDefaults(void) {
132	// Control	132	// Control
133	staticParams.externalControl = 0;	133	staticParams.externalControl = 0;
134	staticParams.IFactor = 52;	134	staticParams.IFactor = 52;
135		135
136	staticParams.airspeedCorrection = 1;	136	staticParams.airspeedCorrection = 1;
137	staticParams.isFlyingThreshold = 10;	137	staticParams.isFlyingThreshold = 4;
-		138
-		139	staticParams.minFlashAirspeed = 5;
-		140	staticParams.maxFlashAirspeed = 9;
138		141
139	// Servos	142	// Servos
140	staticParams.servoCount = 7;	143	staticParams.servoCount = 7;
141	staticParams.servos[CONTROL_ELEVATOR].reverse = 1;	144	staticParams.servos[CONTROL_ELEVATOR].reverse = 1;
142	staticParams.servos[CONTROL_AILERONS].reverse = 0;	145	staticParams.servos[CONTROL_AILERONS].reverse = 0;
143	staticParams.servos[CONTROL_RUDDER].reverse = 1;	146	staticParams.servos[CONTROL_RUDDER].reverse = 1;
144		147
145	// Battery warning and emergency flight	148	// Battery warning and emergency flight
146	staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S	149	staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S
147		150
148	for (uint8_t i=0; i<3; i++) {	151	for (uint8_t i=0; i<3; i++) {
149	staticParams.gyroPID[i].P = 80;	152	staticParams.gyroPID[i].P = 80;
150	staticParams.gyroPID[i].I = 40;	153	staticParams.gyroPID[i].I = 40;
151	staticParams.gyroPID[i].D = 40;	154	staticParams.gyroPID[i].D = 40;
152	staticParams.gyroPID[i].iMax = 45;	155	staticParams.gyroPID[i].iMax = 45;
153	}	156	}
154		157
155	staticParams.stickIElevator = 40;	158	staticParams.stickIElevator = 40;
156	staticParams.stickIAilerons = 60;	159	staticParams.stickIAilerons = 60;
157	staticParams.stickIRudder = 20;	160	staticParams.stickIRudder = 20;
158		161
159	// Outputs	162	// Outputs
160	staticParams.outputFlash[0].bitmask = 1; //0b01011111;	163	staticParams.outputFlash[0].bitmask = 1; //0b01011111;
161	staticParams.outputFlash[0].timing = 15;	164	staticParams.outputFlash[0].timing = 15;
162	staticParams.outputFlash[1].bitmask = 3; //0b11110011;	165	staticParams.outputFlash[1].bitmask = 3; //0b11110011;
163	staticParams.outputFlash[1].timing = 15;	166	staticParams.outputFlash[1].timing = 15;
164		167
165	staticParams.outputDebugMask = 0;	168	staticParams.outputDebugMask = 0;
166	staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP \| OUTPUTFLAGS_FLASH_1_AT_BEEP \| OUTPUTFLAGS_USE_ONBOARD_LEDS;	169	staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP \| OUTPUTFLAGS_FLASH_1_AT_BEEP \| OUTPUTFLAGS_USE_ONBOARD_LEDS;
167	}	170	}
168		171
169	/***************************************************/	172	/***************************************************/
170	/* Default Values for parameter set 1 */	173	/* Default Values for parameter set 1 */
171	/***************************************************/	174	/***************************************************/
172	void paramSet_default(uint8_t setnumber) {	175	void paramSet_default(uint8_t setnumber) {
173	setOtherDefaults();	176	setOtherDefaults();
174		177
175	for (uint8_t i=0; i<8; i++) {	178	for (uint8_t i=0; i<8; i++) {
176	staticParams.userParams[i] = i;	179	staticParams.userParams[i] = i;
177	}	180	}
178		181
179	staticParams.bitConfig =	182	staticParams.bitConfig =
180	CFG_GYRO_SATURATION_PREVENTION;	183	CFG_GYRO_SATURATION_PREVENTION;
181		184
182	memcpy(staticParams.name, "Default\0", 6);	185	memcpy(staticParams.name, "Default\0", 6);
183	}	186	}
184		187
185	void IMUConfig_default(void) {	188	void IMUConfig_default(void) {
186	IMUConfig.gyroPIDFilterConstant = 8;	189	IMUConfig.gyroPIDFilterConstant = 8;
187	IMUConfig.gyroDFilterConstant = 1;	190	IMUConfig.gyroDFilterConstant = 1;
188	IMUConfig.rateTolerance = 120;	191	IMUConfig.rateTolerance = 120;
189	IMUConfig.gyroDWindowLength = 8;	192	IMUConfig.gyroDWindowLength = 8;
190	IMUConfig.gyroQuadrant = 2;	193	IMUConfig.gyroQuadrant = 2;
191	IMUConfig.imuReversedFlags = 0;	194	IMUConfig.imuReversedFlags = 0;
192		195
193	gyro_setDefaultParameters();	196	gyro_setDefaultParameters();
194	}	197	}
195		198
196	/***************************************************/	199	/***************************************************/
197	/* Default Values for R/C Channels */	200	/* Default Values for R/C Channels */
198	/***************************************************/	201	/***************************************************/
199	void channelMap_default(void) {	202	void channelMap_default(void) {
200	channelMap.HWTrim = 178;	203	channelMap.HWTrim = 178;
201	channelMap.variableOffset = 128;	204	channelMap.variableOffset = 128;
202	channelMap.channels[CH_ELEVATOR] = 1;	205	channelMap.channels[CH_ELEVATOR] = 1;
203	channelMap.channels[CH_AILERONS] = 0;	206	channelMap.channels[CH_AILERONS] = 0;
204	channelMap.channels[CH_THROTTLE] = 2;	207	channelMap.channels[CH_THROTTLE] = 2;
205	channelMap.channels[CH_RUDDER] = 3;	208	channelMap.channels[CH_RUDDER] = 3;
206	channelMap.channels[CH_POTS + 0] = 4;	209	channelMap.channels[CH_POTS + 0] = 4;
207	channelMap.channels[CH_POTS + 1] = 5;	210	channelMap.channels[CH_POTS + 1] = 5;
208	channelMap.channels[CH_POTS + 2] = 6;	211	channelMap.channels[CH_POTS + 2] = 6;
209	channelMap.channels[CH_POTS + 3] = 7;	212	channelMap.channels[CH_POTS + 3] = 7;
210	}	213	}
211		214