| 9,6 → 9,7 |
|---|
| int16_t variables[VARIABLE_COUNT]; |
| ParamSet_t staticParams; |
| ChannelMap_t channelMap; |
| RCTrim_t rcTrim; |
| IMUConfig_t IMUConfig; |
| volatile DynamicParams_t dynamicParams; |
| |
| 33,8 → 34,8 |
|---|
| {offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255}, |
| {offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255}, |
| |
| {offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255}, |
| {offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255}, |
| {offsetof(ParamSet_t, gimbalServoConfigurations[0].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[0]),0,255}, |
| {offsetof(ParamSet_t, gimbalServoConfigurations[1].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[1]),0,255}, |
| {offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255}, |
| {offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255}, |
| }; |
| 89,19 → 90,19 |
|---|
| |
| // Servos |
| staticParams.servoCount = 7; |
| staticParams.servosReverse = CONTROL_SERVO_REVERSE_ELEVATOR | CONTROL_SERVO_REVERSE_RUDDER; |
| |
| staticParams.gimbalServoMaxManualSpeed = 10; |
| for (uint8_t i=0; i<2; i++) { |
| staticParams.servoConfigurations[i].manualControl = 128; |
| staticParams.servoConfigurations[i].stabilizationFactor = 0; |
| staticParams.servoConfigurations[i].minValue = 32; |
| staticParams.servoConfigurations[i].maxValue = 224; |
| staticParams.servoConfigurations[i].flags = 0; |
| staticParams.gimbalServoConfigurations[i].manualControl = 128; |
| staticParams.gimbalServoConfigurations[i].stabilizationFactor = 0; |
| staticParams.gimbalServoConfigurations[i].minValue = 32; |
| staticParams.gimbalServoConfigurations[i].maxValue = 224; |
| staticParams.gimbalServoConfigurations[i].flags = 0; |
| } |
| |
| // Battery warning and emergency flight |
| staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
| staticParams.emergencyThrottle = 35; |
| staticParams.emergencyFlightDuration = 30; |
| |
| for (uint8_t i=0; i<3; i++) { |
| staticParams.gyroPID[i].P = 80; |
| 110,9 → 111,9 |
|---|
| staticParams.gyroPID[i].iMax = 45; |
| } |
| |
| staticParams.stickIElevator = 80; |
| staticParams.stickIAilerons = 120; |
| staticParams.stickIRudder = 40; |
| staticParams.stickIElevator = 60; |
| staticParams.stickIAilerons = 80; |
| staticParams.stickIRudder = 25; |
| |
| // Outputs |
| staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
| 147,6 → 148,9 |
|---|
| IMUConfig.gyroDWindowLength = 3; |
| IMUConfig.gyroQuadrant = 0; |
| IMUConfig.imuReversedFlags = 0; |
| IMUConfig.gyroCalibrationTweak[0] = |
| IMUConfig.gyroCalibrationTweak[1] = |
| IMUConfig.gyroCalibrationTweak[2] = 0; |
| } |
| |
| /***************************************************/ |
| 153,7 → 157,9 |
|---|
| /* Default Values for R/C Channels */ |
| /***************************************************/ |
| void channelMap_default(void) { |
| channelMap.HWTrim = 0; |
| channelMap.RCPolarity = 1; |
| channelMap.HWTrim = 192; |
| channelMap.variableOffset = 128; |
| channelMap.channels[CH_ELEVATOR] = 1; |
| channelMap.channels[CH_AILERONS] = 0; |
| channelMap.channels[CH_THROTTLE] = 2; |