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| Rev 2089 | Rev 2092 | ||
|---|---|---|---|
| Line 9... | Line 9... | ||
| 9 | 9 | ||
| 10 | int16_t variables[VARIABLE_COUNT]; |
10 | int16_t variables[VARIABLE_COUNT]; |
| 11 | ParamSet_t staticParams; |
11 | ParamSet_t staticParams; |
| 12 | channelMap_t channelMap; |
12 | channelMap_t channelMap; |
| - | 13 | mixerMatrix_t mixerMatrix; |
|
| 13 | mixerMatrix_t mixerMatrix; |
14 | IMUConfig_t IMUConfig; |
| Line 14... | Line 15... | ||
| 14 | volatile DynamicParams_t dynamicParams; |
15 | volatile DynamicParams_t dynamicParams; |
| 15 | 16 | ||
| 16 | uint8_t CPUType; |
17 | uint8_t CPUType; |
| Line 150... | Line 151... | ||
| 150 | staticParams.minThrottle = 8; |
151 | staticParams.minThrottle = 8; |
| 151 | staticParams.maxThrottle = 230; |
152 | staticParams.maxThrottle = 230; |
| 152 | staticParams.externalControl = 0; |
153 | staticParams.externalControl = 0; |
| 153 | staticParams.motorSmoothing = 0; |
154 | staticParams.motorSmoothing = 0; |
| Line 154... | Line -... | ||
| 154 | - | ||
| 155 | // IMU |
- | |
| 156 | staticParams.gyroPIDFilterConstant = 1; |
- | |
| 157 | staticParams.gyroDFilterConstant = 1; |
- | |
| 158 | staticParams.accFilterConstant = 10; |
- | |
| 159 | 155 | ||
| 160 | staticParams.gyroP = 60; |
156 | staticParams.gyroP = 60; |
| 161 | staticParams.gyroI = 80; |
157 | staticParams.gyroI = 80; |
| Line 162... | Line 158... | ||
| 162 | staticParams.gyroD = 4; |
158 | staticParams.gyroD = 4; |
| 163 | 159 | ||
| 164 | // set by gyro-specific code: gyro_setDefaults(). |
160 | // set by gyro-specific code: gyro_setDefaults(). |
| 165 | // staticParams.zerothOrderCorrection = |
161 | // staticParams.zerothOrderCorrection = |
| Line 166... | Line 162... | ||
| 166 | // staticParams.driftCompDivider = |
162 | // staticParams.driftCompDivider = |
| 167 | // staticParams.driftCompLimit = |
- | |
| 168 | - | ||
| 169 | staticParams.dynamicStability = 50; |
163 | // staticParams.driftCompLimit = |
| 170 | staticParams.rateTolerance = 10; |
164 | |
| 171 | staticParams.yawRateFactor = 4; |
165 | staticParams.dynamicStability = 50; |
| 172 | staticParams.IFactor = 52; |
166 | staticParams.IFactor = 52; |
| 173 | staticParams.yawIFactor = 100; |
167 | staticParams.yawIFactor = 100; |
| Line 199... | Line 193... | ||
| 199 | 193 | ||
| 200 | staticParams.outputDebugMask = 8; |
194 | staticParams.outputDebugMask = 8; |
| Line 201... | Line 195... | ||
| 201 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
195 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
| - | 196 | ||
| - | 197 | staticParams.naviMode = 0; // free. |
|
| - | 198 | staticParams.airpressureWindowLength = 0; |
|
| - | 199 | staticParams.airpressureDWindowLength = 24; |
|
| - | 200 | ||
| - | 201 | staticParams.heightControlMaxIntegralIn = 125; |
|
| - | 202 | staticParams.heightControlMaxIntegralOut = 75; |
|
| - | 203 | staticParams.heightControlMaxThrottleChange = 75; |
|
| 202 | 204 | staticParams.heightControlTestOscPeriod = 0; |
|
| Line 203... | Line 205... | ||
| 203 | staticParams.naviMode = 0; // free. |
205 | staticParams.heightControlTestOscAmplitude = 0; |
| 204 | } |
206 | } |
| 205 | 207 | ||
| 206 | /***************************************************/ |
208 | /***************************************************/ |
| 207 | /* Default Values for parameter set 1 */ |
209 | /* Default Values for parameter set 1 */ |
| 208 | /***************************************************/ |
- | |
| Line 209... | Line 210... | ||
| 209 | void paramSet_default(uint8_t setnumber) { |
210 | /***************************************************/ |
| 210 | setOtherDefaults(); |
211 | void paramSet_default(uint8_t setnumber) { |
| 211 | gyro_setDefaultParameters(); |
212 | setOtherDefaults(); |
| Line 212... | Line 213... | ||
| 212 | 213 | ||
| 213 | for (uint8_t i=0; i<8; i++) { |
214 | for (uint8_t i=0; i<8; i++) { |
| Line 214... | Line 215... | ||
| 214 | staticParams.userParams[i] = 0; |
215 | staticParams.userParams[i] = i; |
| 215 | } |
216 | } |
| Line -... | Line 217... | ||
| - | 217 | ||
| - | 218 | staticParams.bitConfig = |
|
| - | 219 | CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED; |
|
| - | 220 | ||
| - | 221 | memcpy(staticParams.name, "Default\0", 6); |
|
| - | 222 | } |
|
| - | 223 | ||
| - | 224 | void IMUConfig_default(void) { |
|
| - | 225 | IMUConfig.gyroPIDFilterConstant = 1; |
|
| - | 226 | IMUConfig.gyroDFilterConstant = 1; |
|
| 216 | 227 | IMUConfig.accFilterConstant = 10; |
|
| 217 | staticParams.bitConfig = |
228 | IMUConfig.rateTolerance = 120; |
| 218 | CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED; |
229 | IMUConfig.yawRateFactor = 4; |
| 219 | 230 | ||
| 220 | memcpy(staticParams.name, "Default\0", 6); |
231 | gyro_setDefaultParameters(); |