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Rev | Author | Line No. | Line |
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2108 | - | 1 | #include <util/delay.h> |
2 | #include <stddef.h> |
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3 | #include <string.h> |
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4 | #include "configuration.h" |
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5 | #include "rc.h" |
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6 | #include "output.h" |
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7 | #include "flight.h" |
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8 | |||
9 | int16_t variables[VARIABLE_COUNT]; |
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10 | ParamSet_t staticParams; |
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2116 | - | 11 | ChannelMap_t channelMap; |
2108 | - | 12 | IMUConfig_t IMUConfig; |
13 | volatile DynamicParams_t dynamicParams; |
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14 | |||
15 | VersionInfo_t versionInfo; |
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16 | |||
17 | FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL; |
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18 | // updated by considering airspeed.. |
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19 | volatile uint16_t isFlying = 0; |
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20 | |||
21 | const MMXLATION XLATIONS[] = { |
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22 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
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23 | |||
24 | {offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255}, |
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25 | {offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255}, |
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26 | {offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255}, |
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27 | |||
28 | {offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255}, |
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29 | {offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255}, |
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30 | {offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255}, |
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31 | |||
32 | {offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255}, |
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33 | {offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255}, |
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34 | {offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255}, |
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35 | |||
36 | {offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255}, |
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37 | {offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255}, |
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38 | {offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255}, |
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39 | {offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255}, |
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40 | }; |
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41 | |||
42 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
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43 | uint8_t result; |
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44 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
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45 | else result = src; |
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46 | if (result < min) result = min; |
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47 | else if (result > max) result = max; |
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48 | return result; |
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49 | } |
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50 | |||
51 | void configuration_applyVariablesToParams(void) { |
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52 | uint8_t i, src; |
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53 | uint8_t* pointerToTgt; |
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54 | |||
55 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
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56 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
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57 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
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58 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
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59 | } |
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60 | |||
61 | // User parameters are always variable. |
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62 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
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63 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
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64 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
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65 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
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66 | } |
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67 | } |
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68 | |||
69 | void configuration_setFlightParameters(uint8_t newFlightMode) { |
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70 | currentFlightMode = newFlightMode; |
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71 | flight_updateFlightParametersToFlightMode(); |
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72 | } |
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73 | |||
74 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
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75 | void configuration_paramSetDidChange(void) { |
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76 | // This should be OK to do here as long as we don't change parameters during emergency flight. We don't. |
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77 | configuration_setFlightParameters(currentFlightMode); |
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78 | // Immediately load changes to output, and also signal the paramset change. |
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79 | output_init(); |
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80 | } |
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81 | |||
82 | void setOtherDefaults(void) { |
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83 | // Control |
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84 | staticParams.externalControl = 0; |
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85 | staticParams.IFactor = 52; |
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86 | |||
2109 | - | 87 | staticParams.airspeedCorrection = 100; |
88 | staticParams.isFlyingThreshold = 100; |
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89 | |||
2108 | - | 90 | // Servos |
91 | staticParams.servoCount = 7; |
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2119 | - | 92 | staticParams.gimbalServoMaxManualSpeed = 10; |
2108 | - | 93 | for (uint8_t i=0; i<2; i++) { |
94 | staticParams.servoConfigurations[i].manualControl = 128; |
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95 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
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96 | staticParams.servoConfigurations[i].minValue = 32; |
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97 | staticParams.servoConfigurations[i].maxValue = 224; |
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98 | staticParams.servoConfigurations[i].flags = 0; |
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99 | } |
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100 | |||
101 | // Battery warning and emergency flight |
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2119 | - | 102 | staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
2108 | - | 103 | staticParams.emergencyThrottle = 35; |
104 | staticParams.emergencyFlightDuration = 30; |
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105 | |||
106 | for (uint8_t i=0; i<3; i++) { |
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107 | staticParams.gyroPID[i].P = 80; |
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108 | staticParams.gyroPID[i].I = 80; |
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109 | staticParams.gyroPID[i].D = 40; |
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2109 | - | 110 | staticParams.gyroPID[i].iMax = 45; |
2108 | - | 111 | } |
112 | |||
113 | staticParams.stickIElevator = 80; |
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114 | staticParams.stickIAilerons = 120; |
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115 | staticParams.stickIRudder = 40; |
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116 | |||
117 | // Outputs |
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118 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
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119 | staticParams.outputFlash[0].timing = 15; |
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120 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
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121 | staticParams.outputFlash[1].timing = 15; |
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122 | |||
123 | staticParams.outputDebugMask = 8; |
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124 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
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125 | } |
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126 | |||
127 | /***************************************************/ |
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128 | /* Default Values for parameter set 1 */ |
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129 | /***************************************************/ |
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130 | void paramSet_default(uint8_t setnumber) { |
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131 | setOtherDefaults(); |
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132 | |||
133 | for (uint8_t i=0; i<8; i++) { |
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134 | staticParams.userParams[i] = i; |
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135 | } |
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136 | |||
137 | staticParams.bitConfig = |
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138 | CFG_GYRO_SATURATION_PREVENTION; |
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139 | |||
140 | memcpy(staticParams.name, "Default\0", 6); |
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141 | } |
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142 | |||
143 | void IMUConfig_default(void) { |
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144 | IMUConfig.gyroPIDFilterConstant = 1; |
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145 | IMUConfig.gyroDFilterConstant = 1; |
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146 | IMUConfig.rateTolerance = 120; |
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147 | IMUConfig.gyroDWindowLength = 3; |
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148 | IMUConfig.gyroQuadrant = 0; |
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149 | IMUConfig.imuReversedFlags = 0; |
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150 | } |
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151 | |||
152 | /***************************************************/ |
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153 | /* Default Values for R/C Channels */ |
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154 | /***************************************************/ |
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155 | void channelMap_default(void) { |
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2116 | - | 156 | channelMap.trim = 0; |
2108 | - | 157 | channelMap.channels[CH_ELEVATOR] = 1; |
158 | channelMap.channels[CH_AILERONS] = 0; |
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159 | channelMap.channels[CH_THROTTLE] = 2; |
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160 | channelMap.channels[CH_RUDDER] = 3; |
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161 | channelMap.channels[CH_POTS + 0] = 4; |
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162 | channelMap.channels[CH_POTS + 1] = 5; |
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163 | channelMap.channels[CH_POTS + 2] = 6; |
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164 | channelMap.channels[CH_POTS + 3] = 7; |
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165 | } |