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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1775 | - | 1 | Dongfang's FC firmware rewrite |
| 2 | ------------------------------ |
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| 3 | |||
| 4 | The basis was V0.74d Code Redesign Killagreg. |
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| 5 | |||
| 6 | Goal: |
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| 7 | - To be the preferred hacker-friendly FC firmware. |
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| 8 | - To use H&Is design experience but make the code clearer and easier to extend+modify. |
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| 9 | |||
| 10 | Non-goal: |
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| 11 | - To follow up on all changes and all new features in the H&I firmware. |
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| 12 | |||
| 13 | Features: |
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| 14 | - Readable, reasonably documented source code makes it easy to implement the features you |
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| 15 | want yourself (and to remove those you don't like). |
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| 16 | - The code was broken into smaller pieces and modularized (fc.c in particular). |
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| 17 | Global variables are (almost) only written to by one module each. |
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| 18 | - New or experimental hardware is easy to incorporate. Gyro and acc. meter axes are reversible, |
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| 19 | and resetting the sensitivity actually works. |
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| 20 | - New or experiemental controls are easy to incorporate. All controls (eg. R/C, external |
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| 21 | serial, NC, automatic emergency landing pilot and automatic altitude controller pilot) |
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| 22 | are potentially abstractable to one interface. |
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| 23 | - Reversal of gyro or accelerometer axes is easy. It is easy to adapt the firmware for |
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| 24 | upside down installation of the FC too. |
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| 25 | - The firmware is compatible with MK-Tool. This may be changed, if somebody writes a new |
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| 26 | MK-Tool which is easy to adapt for addition of / removal of features. |
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| 27 | |||
| 28 | Non-features (currently): |
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| 29 | - Navi support temporarily removed (should be added again later). |
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| 30 | - Compass support temporarily removed (should be added again later). |
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| 31 | - Parts of menu.c are dummy implemented or removed. It is possible that menu.c and all use |
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| 32 | of printf will be removed later, and replaced by something else (debud on steroids). |
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| 33 | - Control rate limiter removed. |
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| 34 | - Altitude control temporarily removed (should be added again later). |
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| 35 | - Automatic board detection removed. This firmware is for compiling yourself, possibly |
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| 36 | with nonstandard or experimental hardware. That conflicts with automatically switching |
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| 37 | between standard hardware versions, so the feature was removed. Instead, is was made |
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| 38 | easy to choose gyro types etc. in the makefile. |
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| 39 | |||
| 40 | How to build: |
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| 41 | - Choose a gyro definition, depending on your hardware, and enable it in the makefile |
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| 42 | and (GYRO=.....) and #include its header file in analog.h (how to make that follow the |
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| 43 | makefile automatically?). Currently, ENC-03_FC1.3, ADXRS610_FC2.0 and invenSense are |
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| 44 | supported (each has a .c and a .h file). |
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| 45 | - make all |