2,6 → 2,7 |
#include <stddef.h> |
#include <string.h> |
#include "configuration.h" |
#include "controlMixer.h" |
#include "rc.h" |
#include "output.h" |
#include "flight.h" |
34,8 → 35,6 |
{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, 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}, |
}; |
90,17 → 89,10 |
|
// Servos |
staticParams.servoCount = 7; |
staticParams.servosReverse = CONTROL_SERVO_REVERSE_AILERONS; |
staticParams.servos[CONTROL_ELEVATOR].reverse = 0; |
staticParams.servos[CONTROL_AILERONS].reverse = 1; |
staticParams.servos[CONTROL_RUDDER].reverse = 0; |
|
staticParams.gimbalServoMaxManualSpeed = 10; |
for (uint8_t i=0; i<2; i++) { |
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 |
|
108,7 → 100,7 |
staticParams.gyroPID[i].P = 40; |
staticParams.gyroPID[i].I = 40; |
staticParams.gyroPID[i].D = 40; |
staticParams.gyroPID[i].iMax = 45; |
staticParams.gyroPID[i].iMax = 60; |
} |
|
staticParams.stickIElevator = 40; |
158,7 → 150,7 |
/***************************************************/ |
void channelMap_default(void) { |
channelMap.RCPolarity = 1; |
channelMap.HWTrim = 110; |
channelMap.HWTrim = 10; |
channelMap.variableOffset = 131; |
channelMap.channels[CH_ELEVATOR] = 1; |
channelMap.channels[CH_AILERONS] = 0; |