19,12 → 19,24 |
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VersionInfo_t versionInfo; |
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// MK flags. TODO: Replace by enum. State machine. |
FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL; |
volatile uint8_t isMotorRunning = 0; |
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const MMXLATION XLATIONS[] = { |
{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
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{offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255}, |
{offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255}, |
{offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255}, |
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{offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255}, |
{offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255}, |
{offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255}, |
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{offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255}, |
{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}, |
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{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, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255}, |
104,7 → 116,8 |
} |
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void configuration_setFlightParameters(uint8_t newFlightMode) { |
flight_updateFlightParametersToFlightMode(currentFlightMode = newFlightMode); |
currentFlightMode = newFlightMode; |
flight_updateFlightParametersToFlightMode(); |
} |
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// Called after a change in configuration parameters, as a hook for modules to take over changes. |
136,6 → 149,12 |
staticParams.emergencyThrottle = 35; |
staticParams.emergencyFlightDuration = 30; |
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for (uint8_t i=0; i<3; i++) { |
staticParams.gyroPID[i].P = 80; |
staticParams.gyroPID[i].I = 80; |
staticParams.gyroPID[i].D = 40; |
} |
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staticParams.stickIElevator = 80; |
staticParams.stickIAilerons = 120; |
staticParams.stickIRudder = 40; |
161,7 → 180,7 |
} |
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staticParams.bitConfig = |
CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED; |
CFG_GYRO_SATURATION_PREVENTION; |
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memcpy(staticParams.name, "Default\0", 6); |
} |