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Line 4... Line 4...
4
#include "configuration.h"
4
#include "configuration.h"
5
#include "sensors.h"
5
#include "sensors.h"
6
#include "rc.h"
6
#include "rc.h"
7
#include "output.h"
7
#include "output.h"
8
#include "flight.h"
8
#include "flight.h"
-
 
9
#include "debug.h"
Line 9... Line 10...
9
 
10
 
10
int16_t variables[VARIABLE_COUNT];
11
int16_t variables[VARIABLE_COUNT];
11
ParamSet_t staticParams;
12
ParamSet_t staticParams;
12
ChannelMap_t channelMap;
13
ChannelMap_t channelMap;
13
MotorMixer_t motorMixer;
14
OutputMixer_t outputMixer;
14
IMUConfig_t IMUConfig;
15
IMUConfig_t IMUConfig;
Line 15... Line 16...
15
volatile DynamicParams_t dynamicParams;
16
volatile DynamicParams_t dynamicParams;
16
 
17
 
17
uint8_t CPUType;
-
 
Line 18... Line 18...
18
uint8_t boardRelease;
18
uint8_t CPUType;
Line 19... Line 19...
19
uint8_t requiredMotors;
19
uint8_t boardRelease;
20
 
20
 
21
VersionInfo_t versionInfo;
21
VersionInfo_t versionInfo;
Line 22... Line 22...
22
 
22
 
-
 
23
// MK flags. TODO: Replace by enum. State machine.
-
 
24
uint16_t isFlying;
23
// MK flags. TODO: Replace by enum. State machine.
25
volatile uint8_t MKFlags;
24
uint16_t isFlying = 0;
26
 
-
 
27
const MMXLATION XLATIONS[] = {
25
volatile uint8_t MKFlags = 0;
28
{offsetof(ParamSet_t, flightMode), offsetof(DynamicParams_t, flightMode),0,255},
-
 
29
 
-
 
30
{offsetof(ParamSet_t, levelCorrection[0]), offsetof(DynamicParams_t, levelCorrection[0]),0,255},
-
 
31
{offsetof(ParamSet_t, levelCorrection[1]), offsetof(DynamicParams_t, levelCorrection[1]),0,255},
-
 
32
 
-
 
33
{offsetof(ParamSet_t, attGyroP), offsetof(DynamicParams_t, attGyroP),0,250},
-
 
34
{offsetof(ParamSet_t, attGyroI), offsetof(DynamicParams_t, attGyroI),0,250},
-
 
35
{offsetof(ParamSet_t, attGyroD), offsetof(DynamicParams_t, attGyroD),0,250},
-
 
36
 
26
 
37
{offsetof(ParamSet_t, rateGyroP), offsetof(DynamicParams_t, rateGyroP),0,250},
27
const MMXLATION XLATIONS[] = {
38
{offsetof(ParamSet_t, rateGyroI), offsetof(DynamicParams_t, rateGyroI),0,250},
-
 
39
{offsetof(ParamSet_t, rateGyroD), offsetof(DynamicParams_t, rateGyroD),0,250},
28
{offsetof(ParamSet_t, levelCorrection[0]), offsetof(DynamicParams_t, levelCorrection[0]),0,255},
40
 
29
{offsetof(ParamSet_t, levelCorrection[1]), offsetof(DynamicParams_t, levelCorrection[1]),0,255},
41
{offsetof(ParamSet_t, yawGyroP), offsetof(DynamicParams_t, yawGyroP),0,250},
30
{offsetof(ParamSet_t, gyroP), offsetof(DynamicParams_t, gyroP),0,255},
-
 
31
{offsetof(ParamSet_t, gyroI), offsetof(DynamicParams_t, gyroI),0,255},
42
{offsetof(ParamSet_t, yawGyroI), offsetof(DynamicParams_t, yawGyroI),0,250},
32
{offsetof(ParamSet_t, gyroD), offsetof(DynamicParams_t, gyroD),0,255},
43
{offsetof(ParamSet_t, yawGyroD), offsetof(DynamicParams_t, yawGyroD),0,250},
33
{offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255},
44
 
34
{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
45
{offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255},
35
{offsetof(ParamSet_t, dynamicStability), offsetof(DynamicParams_t, dynamicStability),0,255},
46
{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
Line 50... Line 61...
50
  if (result < min) result = min;
61
  if (result < min) result = min;
51
  else if (result > max) result = max;
62
  else if (result > max) result = max;
52
  return result;
63
  return result;
53
}
64
}
Line -... Line 65...
-
 
65
 
-
 
66
void configuration_fixVariableParams(uint8_t variableNumber) {
-
 
67
  // If variable value is to great, limit it.
-
 
68
  uint8_t value = variables[variableNumber];
-
 
69
  if (value >= 256-VARIABLE_COUNT)
-
 
70
    value = 256-VARIABLE_COUNT - 1;
-
 
71
  for (uint8_t i=0; i<sizeof(DynamicParams_t); i++) {
-
 
72
    uint8_t* pointerToParam =(uint8_t*)(&dynamicParams + i);
-
 
73
    if (*pointerToParam == 256-VARIABLE_COUNT + variableNumber) {
-
 
74
       *pointerToParam = value;
-
 
75
    }
-
 
76
  }
-
 
77
}
54
 
78
 
55
void configuration_applyVariablesToParams(void) {
79
void configuration_applyVariablesToParams(void) {
56
  uint8_t i, src;
80
  uint8_t i, src;
Line 57... Line 81...
57
  uint8_t* pointerToTgt;
81
  uint8_t* pointerToTgt;
Line 117... Line 141...
117
  DDRB |= (1<<DDB1)|(1<<DDB0);
141
  DDRB |= (1<<DDB1)|(1<<DDB0);
118
  RED_OFF;
142
  RED_OFF;
119
  GRN_OFF;
143
  GRN_OFF;
120
}
144
}
Line 121... Line 145...
121
 
145
 
-
 
146
void configuration_setNormalFlightMode(void) {
-
 
147
  FlightMode_t flight_flightMode;
-
 
148
  if (dynamicParams.flightMode < 255/3)
122
void configuration_setNormalFlightParameters(void) {
149
    flight_flightMode = FM_RETURN_TO_LEVEL;
123
  flight_setParameters(staticParams.IFactor, dynamicParams.gyroP,
150
  else if (dynamicParams.flightMode < 255*2/3)
-
 
151
    flight_flightMode = FM_HEADING_HOLD;
-
 
152
  else
-
 
153
    flight_flightMode = FM_RATE;
124
      staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI,
154
  flight_setMode(flight_flightMode);
125
      dynamicParams.gyroP, staticParams.yawIFactor);
155
  debugOut.analog[20] = flight_flightMode;
Line 126... Line 156...
126
}
156
}
127
 
157
 
128
void configuration_setFailsafeFlightParameters(void) {
158
void configuration_setFailsafeFlightMode(void) {
Line 129... Line 159...
129
  flight_setParameters(0, 90, 120, 90, 120);
159
  flight_setMode(FM_RETURN_TO_LEVEL);
130
}
160
}
131
 
161
 
-
 
162
// Called after a change in configuration parameters, as a hook for modules to take over changes.
132
// Called after a change in configuration parameters, as a hook for modules to take over changes.
163
void configuration_paramSetDidChange(void) {
-
 
164
  // This should be OK to do here as long as we don't change parameters during emergency flight. We don't.
-
 
165
  // No longer necessary.
133
void configuration_paramSetDidChange(void) {
166
  // configuration_setNormalFlightMode();
134
  // This should be OK to do here as long as we don't change parameters during emergency flight. We don't.
167
  flight_setParameters();
135
  configuration_setNormalFlightParameters();
168
  output_setParameters();
Line 136... Line 169...
136
  // Immediately load changes to output, and also signal the paramset change.
169
  // Immediately load changes to output, and also signal the paramset change.
137
  output_init();
170
  output_init();
138
}
171
}
139
 
172
 
-
 
173
void setOtherDefaults(void) {
-
 
174
  // Height Control
140
void setOtherDefaults(void) {
175
  staticParams.airpressureFilterConstant = 8;
141
  // Height Control
176
  staticParams.airpressureWindowLength = 8;
142
  staticParams.airpressureFilterConstant = 8;
177
  staticParams.airpressureDWindowLength = 24;
143
  //staticParams.airpressureWindowLength = 0;
178
 
144
  staticParams.airpressureAccZCorrection = 128+56;
179
  staticParams.airpressureAccZCorrection = 128+56;
Line 145... Line 180...
145
  staticParams.heightP = 10;
180
  staticParams.heightP = 10;
-
 
181
  staticParams.heightD = 30;
146
  staticParams.heightD = 30;
182
  staticParams.heightSetting = 251;
147
  staticParams.heightSetting = 251;
183
  staticParams.heightControlMaxThrottleChange = 10;
148
  staticParams.heightControlMaxThrottleChange = 10;
184
 
149
 
185
  // Control
-
 
186
  staticParams.flightMode = 248;
150
  // Control
187
  staticParams.stickP = 8;
151
  staticParams.stickP = 8;
188
  staticParams.stickD = 0;
-
 
189
  staticParams.stickYawP = 8;
152
  staticParams.stickD = 12;
190
  staticParams.stickThrottleD = 4;
153
  staticParams.stickYawP = 12;
191
 
154
  staticParams.stickThrottleD = 12;
192
  staticParams.minThrottle = 8;
155
  staticParams.minThrottle = 8;
-
 
156
  staticParams.maxThrottle = 230;
-
 
157
  staticParams.externalControl = 0;
-
 
158
  staticParams.attitudeControl = 0;
-
 
Line 159... Line 193...
159
  staticParams.motorSmoothing = 0;
193
  staticParams.maxThrottle = 230;
160
 
194
 
161
  staticParams.gyroP = 60;
195
  staticParams.externalControl = 0;
-
 
196
  staticParams.attitudeControl = 0;
-
 
197
  staticParams.dynamicStability = 80; // 0 means: Regulation only by decreasing throttle. 200: Only by increasing.
-
 
198
 
-
 
199
  staticParams.attGyroP = PID_NORMAL_VALUE;
162
  staticParams.gyroI = 80;
200
  staticParams.attGyroI = PID_NORMAL_VALUE;
-
 
201
  staticParams.attGyroIMax = 0;
-
 
202
  staticParams.attGyroD = PID_NORMAL_VALUE * 3/2;
-
 
203
 
-
 
204
  staticParams.rateGyroP = PID_NORMAL_VALUE;
-
 
205
  staticParams.rateGyroI = PID_NORMAL_VALUE;
Line 163... Line -...
163
  staticParams.gyroD = 4;
-
 
164
 
206
  staticParams.rateGyroIMax = 0;
165
  // set by gyro-specific code: gyro_setDefaults().
-
 
166
  // staticParams.zerothOrderCorrection = 
207
  staticParams.rateGyroD = PID_NORMAL_VALUE;
167
  // staticParams.driftCompDivider = 
208
 
168
  // staticParams.driftCompLimit = 
209
  staticParams.yawGyroP = PID_NORMAL_VALUE;
-
 
210
  staticParams.yawGyroI = PID_NORMAL_VALUE;
Line 169... Line 211...
169
 
211
  staticParams.yawGyroD = PID_NORMAL_VALUE;
170
  staticParams.dynamicStability = 50;
212
 
171
  staticParams.IFactor = 52;
213
  staticParams.compassMode = 0;
172
  staticParams.yawIFactor = 100;  
214
  staticParams.compassYawCorrection = 64;
173
  staticParams.compassYawCorrection = 64;
215
  staticParams.compassP = PID_NORMAL_VALUE;
174
  staticParams.compassP = 50;
216
  staticParams.levelCorrection[0] = 249; // var1
175
  staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128;
-
 
176
 
-
 
177
  // Servos
217
  staticParams.levelCorrection[1] = 250; // var2
178
  staticParams.servoCount = 7;
218
 
Line 179... Line 219...
179
  staticParams.servoManualMaxSpeed = 10;
219
  // Servos
180
  for (uint8_t i=0; i<2; i++) {
220
  staticParams.servoCount = 8;
Line 194... Line 234...
194
  staticParams.outputFlash[0].bitmask = 1; //0b01011111;
234
  staticParams.outputFlash[0].bitmask = 1; //0b01011111;
195
  staticParams.outputFlash[0].timing = 15;
235
  staticParams.outputFlash[0].timing = 15;
196
  staticParams.outputFlash[1].bitmask = 3; //0b11110011;
236
  staticParams.outputFlash[1].bitmask = 3; //0b11110011;
197
  staticParams.outputFlash[1].timing = 15;
237
  staticParams.outputFlash[1].timing = 15;
Line 198... Line 238...
198
 
238
 
199
  staticParams.outputDebugMask = DEBUG_ACC0THORDER;
239
  staticParams.outputDebugMask = DEBUG_INVERTED;
Line 200... Line 240...
200
  staticParams.outputFlags   = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS;
240
  staticParams.outputFlags   = /* OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | */ OUTPUTFLAGS_USE_ONBOARD_LEDS;
201
 
-
 
202
  staticParams.naviMode = 0; // free.
-
 
Line 203... Line 241...
203
  staticParams.airpressureWindowLength = 0;
241
 
204
  staticParams.airpressureDWindowLength = 24;
242
  staticParams.naviMode = 0; // free.
205
 
243
 
206
  staticParams.heightControlMaxIntegralIn = 125;
244
  staticParams.heightControlMaxIntegralIn = 125;
Line 218... Line 256...
218
 
256
 
219
  for (uint8_t i=0; i<8; i++) {
257
  for (uint8_t i=0; i<8; i++) {
220
    staticParams.userParams[i] = i;
258
    staticParams.userParams[i] = i;
Line 221... Line 259...
221
  }
259
  }
Line 222... Line 260...
222
 
260
 
223
  staticParams.bitConfig = CFG_GYRO_SATURATION_PREVENTION;
261
  staticParams.bitConfig = 0;//CFG_GYRO_SATURATION_PREVENTION;
Line 224... Line 262...
224
 
262
 
225
  memcpy(staticParams.name, "Default\0", 6);
263
  memcpy(staticParams.name, "Default\0", 6);
226
}
264
}
227
 
265
 
228
void IMUConfig_default(void) {
266
void IMUConfig_default(void) {
229
  IMUConfig.gyroPIDFilterConstant = 1;
-
 
230
  IMUConfig.gyroDWindowLength = 3;
-
 
-
 
267
  IMUConfig.gyroPIDFilterConstant = 1;
231
  // IMUConfig.gyroDFilterConstant = 1;
268
  IMUConfig.gyroDWindowLength = 3;
232
  IMUConfig.accFilterConstant = 10;
269
  // IMUConfig.gyroDFilterConstant = 1;
233
  IMUConfig.rateTolerance = 120;
270
  IMUConfig.accFilterConstant = 10;
Line 234... Line 271...
234
  IMUConfig.gyroActivityDamping = 24;
271
 
235
 
272
 
236
  gyro_setDefaultParameters();
273
  gyro_setDefaultParameters();
237
}
274
}
238
 
275
 
239
/***************************************************/
276
/***************************************************/
240
/*    Default Values for Mixer Table               */
277
/*    Default Values for Mixer Table               */
241
/***************************************************/
278
/***************************************************/
242
void motorMixer_default(void) { // Quadro
279
void outputMixer_default(void) { // Quadro
243
  uint8_t i;
280
  uint8_t i;
244
  // clear mixer table (but preset throttle)
281
  // clear mixer table (but preset throttle)
245
  for (i = 0; i < MAX_MOTORS; i++) {
282
  for (i = 0; i < NUM_OUTPUTS; i++) {
-
 
283
    outputMixer[i].flightControls[MIXER_SOURCE_THROTTLE] = i < 4 ? (1<<LOG_MOTOR_MIXER_UNIT) : 0;
-
 
284
    outputMixer[i].flightControls[MIXER_SOURCE_PITCH] = 0;
-
 
285
    outputMixer[i].flightControls[MIXER_SOURCE_ROLL] = 0;
-
 
286
    outputMixer[i].flightControls[MIXER_SOURCE_YAW] = 0;
246
    motorMixer.matrix[i][MIX_THROTTLE] = i < 4 ? 64 : 0;
287
    outputMixer[i].oppositeMotor = (uint8_t)-1;
247
    motorMixer.matrix[i][MIX_PITCH] = 0;
-
 
248
    motorMixer.matrix[i][MIX_ROLL] = 0;
288
    outputMixer[i].auxSource = (uint8_t)-1;
249
    motorMixer.matrix[i][MIX_YAW] = 0;
289
    outputMixer[i].outputType = i < 4 ? OUTPUT_TYPE_MOTOR : OUTPUT_TYPE_UNDEFINED;
250
    motorMixer.matrix[i][MIX_OPPOSITE_MOTOR] = (uint8_t)-1;
290
    outputMixer[i].minValue = i < 4 ? 1   : 128;
251
  }
291
    outputMixer[i].maxValue = i < 4 ? 255 : 128;
252
  /*
292
  }
253
  // default = Quadro+
293
  // default = Quadro+
254
  motorMixer.matrix[0][MIX_PITCH] = +64;
294
  outputMixer[0].flightControls[MIXER_SOURCE_PITCH] = -(1<<LOG_MOTOR_MIXER_UNIT);
255
  motorMixer.matrix[0][MIX_YAW] = +64;
295
  outputMixer[0].flightControls[MIXER_SOURCE_YAW] = +(1<<LOG_MOTOR_MIXER_UNIT);
256
  motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1;
296
  outputMixer[0].oppositeMotor = 1;
257
 
297
 
258
  motorMixer.matrix[1][MIX_PITCH] = -64;
298
  outputMixer[1].flightControls[MIXER_SOURCE_PITCH] = +(1<<LOG_MOTOR_MIXER_UNIT);
259
  motorMixer.matrix[1][MIX_YAW] = +64;
299
  outputMixer[1].flightControls[MIXER_SOURCE_YAW] = +(1<<LOG_MOTOR_MIXER_UNIT);
260
  motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0;
300
  outputMixer[1].oppositeMotor = 0;
261
 
301
 
262
  motorMixer.matrix[2][MIX_ROLL] = -64;
302
  outputMixer[2].flightControls[MIXER_SOURCE_ROLL] = +(1<<LOG_MOTOR_MIXER_UNIT);
263
  motorMixer.matrix[2][MIX_YAW] = -64;
303
  outputMixer[2].flightControls[MIXER_SOURCE_YAW] = -(1<<LOG_MOTOR_MIXER_UNIT);
264
  motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3;
304
  outputMixer[2].oppositeMotor = 3;
-
 
305
 
-
 
306
  outputMixer[3].flightControls[MIXER_SOURCE_ROLL] = -(1<<LOG_MOTOR_MIXER_UNIT);
-
 
307
  outputMixer[3].flightControls[MIXER_SOURCE_YAW] = -(1<<LOG_MOTOR_MIXER_UNIT);
265
 
308
  outputMixer[3].oppositeMotor = 2;
266
  motorMixer.matrix[3][MIX_ROLL] = +64;
309
 
-
 
310
  outputMixer[8].outputType = OUTPUT_TYPE_SERVO;
-
 
311
  outputMixer[8].auxSource = MIXER_SOURCE_AUX_RCCHANNEL;
-
 
312
  outputMixer[8].minValue = 40;
-
 
313
  outputMixer[8].maxValue = 256-40;
267
  motorMixer.matrix[3][MIX_YAW] = -64;
314
 
-
 
315
  outputMixer[9].outputType = OUTPUT_TYPE_SERVO;
268
  motorMixer.matrix[3][MIX_OPPOSITE_MOTOR] = 2;
316
  outputMixer[9].auxSource = MIXER_SOURCE_AUX_RCCHANNEL+1;
269
 
317
  outputMixer[9].minValue = 10;
270
  memcpy(motorMixer.name, "Quadro +\0", 9);
318
  outputMixer[9].maxValue = 256-10;
271
  */
319
 
272
 
320
  /*
Line 273... Line 321...
273
  // default = Quadro
321
  // default = Quadro X
274
  motorMixer.matrix[0][MIX_PITCH] = +64;
322
  motorMixer.matrix[0][MIX_PITCH] = +(1<<LOG_MOTOR_MIXER_SCALER);
275
  motorMixer.matrix[0][MIX_ROLL] = +64;
323
  motorMixer.matrix[0][MIX_ROLL] = +(1<<LOG_MOTOR_MIXER_SCALER);
276
  motorMixer.matrix[0][MIX_YAW] = +64;
324
  motorMixer.matrix[0][MIX_YAW] = +(1<<LOG_MOTOR_MIXER_SCALER);
Line 277... Line 325...
277
  motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1;
325
  motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1;
278
 
326
 
279
  motorMixer.matrix[1][MIX_PITCH] = -64;
327
  motorMixer.matrix[1][MIX_PITCH] = -(1<<LOG_MOTOR_MIXER_SCALER);
280
  motorMixer.matrix[1][MIX_ROLL] = -64;
328
  motorMixer.matrix[1][MIX_ROLL] = -(1<<LOG_MOTOR_MIXER_SCALER);
Line 281... Line 329...
281
  motorMixer.matrix[1][MIX_YAW] = +64;
329
  motorMixer.matrix[1][MIX_YAW] = +(1<<LOG_MOTOR_MIXER_SCALER);
282
  motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0;
330
  motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0;
283
 
331
 
284
  motorMixer.matrix[2][MIX_PITCH] = +64;
332
  motorMixer.matrix[2][MIX_PITCH] = +(1<<LOG_MOTOR_MIXER_SCALER);
Line 285... Line 333...
285
  motorMixer.matrix[2][MIX_ROLL] = -64;
333
  motorMixer.matrix[2][MIX_ROLL] = -(1<<LOG_MOTOR_MIXER_SCALER);
-
 
334
  motorMixer.matrix[2][MIX_YAW] = -(1<<LOG_MOTOR_MIXER_SCALER);
286
  motorMixer.matrix[2][MIX_YAW] = -64;
335
  motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3;
Line 287... Line 336...
287
  motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3;
336
 
288
 
337
  motorMixer.matrix[3][MIX_PITCH] = -(1<<LOG_MOTOR_MIXER_SCALER);
289
  motorMixer.matrix[3][MIX_PITCH] = -64;
338
  motorMixer.matrix[3][MIX_ROLL] = +(1<<LOG_MOTOR_MIXER_SCALER);
Line 301... Line 350...
301
  channelMap.RCPolarity = 0;
350
  channelMap.RCPolarity = 0;
302
  channelMap.channels[CH_PITCH]    = 1;
351
  channelMap.channels[CH_PITCH]    = 1;
303
  channelMap.channels[CH_ROLL]     = 0;
352
  channelMap.channels[CH_ROLL]     = 0;
304
  channelMap.channels[CH_THROTTLE] = 2;
353
  channelMap.channels[CH_THROTTLE] = 2;
305
  channelMap.channels[CH_YAW]      = 3;
354
  channelMap.channels[CH_YAW]      = 3;
306
  channelMap.channels[CH_POTS + 0] = 4;
355
  channelMap.channels[CH_VARIABLES + 0] = 4;
307
  channelMap.channels[CH_POTS + 1] = 5;
356
  channelMap.channels[CH_VARIABLES + 1] = 5;
308
  channelMap.channels[CH_POTS + 2] = 6;
357
  channelMap.channels[CH_VARIABLES + 2] = 6;
309
  channelMap.channels[CH_POTS + 3] = 7;
358
  channelMap.channels[CH_VARIABLES + 3] = 7;
310
}
359
}