Subversion Repositories FlightCtrl

Rev

Rev 2017 | Rev 2020 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2017 Rev 2018
Line 5... Line 5...
5 
#include <avr/io.h>
 5 
#include <avr/io.h>
Line 6... Line 6...
6 
 
 6 
 
7 
#define MAX_CHANNELS 10
 7 
#define MAX_CHANNELS 10
Line -... Line 8...
- 
 
 8 
#define MAX_MOTORS 12
- 
 
 9 
 
- 
 
 10 
// bitmask for VersionInfo_t.HardwareError[0]
- 
 
 11 
#define FC_ERROR0_GYRO_PITCH    0x01
- 
 
 12 
#define FC_ERROR0_GYRO_ROLL     0x02
- 
 
 13 
#define FC_ERROR0_GYRO_YAW              0x04
- 
 
 14 
#define FC_ERROR0_ACC_X                 0x08
- 
 
 15 
#define FC_ERROR0_ACC_Y                 0x10
- 
 
 16 
#define FC_ERROR0_ACC_Z                 0x20
- 
 
 17 
#define FC_ERROR0_PRESSURE              0x40
- 
 
 18 
#define FC_ERROR1_RES0                  0x80
- 
 
 19 
// bitmask for VersionInfo_t.HardwareError[1]
- 
 
 20 
#define FC_ERROR1_I2C                   0x01
- 
 
 21 
#define FC_ERROR1_BL_MISSING    0x02
- 
 
 22 
#define FC_ERROR1_SPI_RX                0x04
- 
 
 23 
#define FC_ERROR1_PPM                   0x08
- 
 
 24 
#define FC_ERROR1_MIXER                 0x10
- 
 
 25 
#define FC_ERROR1_RES1                  0x20
- 
 
 26 
#define FC_ERROR1_RES2                  0x40
- 
 
 27 
#define FC_ERROR1_RES3                  0x80
- 
 
 28 
 
- 
 
 29 
typedef struct {
- 
 
 30 
        uint8_t SWMajor;
- 
 
 31 
        uint8_t SWMinor;
- 
 
 32 
        uint8_t protoMajor;
- 
 
 33 
        uint8_t protoMinor;
- 
 
 34 
        uint8_t SWPatch;
- 
 
 35 
        uint8_t hardwareErrors[5];
- 
 
 36 
}__attribute__((packed)) VersionInfo_t;
- 
 
 37 
 
8 
#define MAX_MOTORS 12
 38 
extern VersionInfo_t versionInfo;
9 
 
 39 
 
10 
typedef struct {
 40 
typedef struct {
11 
  // IMU
 41 
  // IMU
12 
  /*PMM*/uint8_t gyroP;
 42 
  /*PMM*/uint8_t gyroP;
Line 89... Line 119...
89 
typedef struct {
 119 
typedef struct {
90 
  // Global bitflags
 120 
  // Global bitflags
91 
  uint8_t bitConfig;  // see upper defines for bitcoding
 121 
  uint8_t bitConfig;  // see upper defines for bitcoding
Line 92... Line 122...
92 
 
 122 
 
- 
 
 123 
  // Height Control
93 
  // Height Control
 124 
  uint8_t airpressureFilter;
94 
  uint8_t heightP; // Value : 0-32
 125 
  uint8_t heightP;
95 
  uint8_t heightD; // Value : 0-250
 126 
  uint8_t heightD;
96 
  uint8_t heightSetting; // Value : 0-32
 127 
  uint8_t heightSetting;
97 
  uint8_t heightControlMaxThrottleChange; // Value : 0-100
 128 
  uint8_t heightControlMaxThrottleChange;
Line 98... Line 129...
98 
  uint8_t heightSlewRate; // Value : 0-50
 129 
  uint8_t heightSlewRate;
99 
 
 130 
 
Line 100... Line 131...
100 
  // Attitude Control
 131 
  // Attitude Control
101 
  uint8_t attitudeControl;
 132 
  uint8_t attitudeControl;
102 
 
 133 
 
103 
  // Control
 134 
  // Control
104 
  uint8_t stickP; // Value : 1-6
 135 
  uint8_t stickP;
105 
  uint8_t stickD; // Value : 0-64
 136 
  uint8_t stickD;
106 
  uint8_t stickYawP; // Value : 1-20
 137 
  uint8_t stickYawP;
107 
  uint8_t stickThrottleD;
 138 
  uint8_t stickThrottleD;
108 
  uint8_t minThrottle; // Value : 0-32
 139 
  uint8_t minThrottle;
109 
  uint8_t maxThrottle; // Value : 33-250
 140 
  uint8_t maxThrottle;
110 
  uint8_t externalControl; // for serial Control
 141 
  uint8_t externalControl; // for serial Control
Line 120... Line 151...
120 
  uint8_t gyroPIDFilterConstant;
 151 
  uint8_t gyroPIDFilterConstant;
121 
  uint8_t gyroATTFilterConstant;
 152 
  uint8_t gyroATTFilterConstant;
122 
  uint8_t gyroDFilterConstant;
 153 
  uint8_t gyroDFilterConstant;
123 
  uint8_t accFilterConstant;
 154 
  uint8_t accFilterConstant;
Line 124... Line 155...
124 
 
 155 
 
125 
  uint8_t gyroP; // Value : 10-250
 156 
  uint8_t gyroP;
126 
  uint8_t gyroI; // Value : 0-250
 157 
  uint8_t gyroI;
Line 127... Line 158...
127 
  uint8_t gyroD; // Value : 0-250
 158 
  uint8_t gyroD;
128 
 
 159 
 
129 
  uint8_t zerothOrderCorrection; // Value : 1-64
 160 
  uint8_t zerothOrderCorrection;
Line 130... Line 161...
130 
  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
 161 
  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
131 
  uint8_t driftCompLimit;   // limit for gyrodrift compensation
 162 
  uint8_t driftCompLimit;   // limit for gyrodrift compensation
132 
 
 163 
 
Line 133... Line 164...
133 
  uint8_t axisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
 164 
  uint8_t axisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
134 
  uint8_t axisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
 165 
  uint8_t axisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
135 
  uint8_t axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
 166 
  uint8_t axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
136 
 
 167 
 
137 
  uint8_t dynamicStability; // PID limit for Attitude controller
 168 
  uint8_t dynamicStability; // PID limit for Attitude controller
Line 138... Line 169...
138 
  uint8_t IFactor; // Value : 0-250
 169 
  uint8_t IFactor;
139 
  uint8_t yawIFactor;
 170 
  uint8_t yawIFactor;
140 
  uint8_t compassYawEffect; // Value : 0-32
 171 
  uint8_t compassYawEffect;
141 
  uint8_t levelCorrection[2];
 172 
  uint8_t levelCorrection[2];
Line 142... Line 173...
142 
 
 173 
 
143 
  // Servos
 174 
  // Servos
144 
  uint8_t servoCount;
 175 
  uint8_t servoCount;
145 
  uint8_t servoManualMaxSpeed;
 176 
  uint8_t servoManualMaxSpeed;
Line 146... Line 177...
146 
  servo_t servoConfigurations[2]; // [PITCH, ROLL]
 177 
  servo_t servoConfigurations[2]; // [PITCH, ROLL]
147 
 
 178 
 
148 
  // Battery warning and emergency flight
 179 
  // Battery warning and emergency flight
149 
  uint8_t batteryVoltageWarning; // Value : 0-250
 180 
  uint8_t batteryVoltageWarning;
Line 150... Line 181...
150 
  uint8_t emergencyThrottle; // Value : 0-250
 181 
  uint8_t emergencyThrottle;
151 
  uint8_t emergencyFlightDuration; // Value : 0-250
182 
  uint8_t emergencyFlightDuration;
Line 152... Line 183...
152 
 
 183 
 
153 
  // Outputs
 184 
  // Outputs
154 
  output_flash_t outputFlash[2];
 185 
  output_flash_t outputFlash[2];
155 
  uint8_t outputDebugMask;
 186 
  uint8_t outputDebugMask;