| 2,6 → 2,7 |
|---|
| #include <stddef.h> |
| #include <string.h> |
| #include "configuration.h" |
| #include "controlMixer.h" |
| #include "rc.h" |
| #include "output.h" |
| #include "sensors.h" |
| 38,8 → 39,6 |
|---|
| {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}, |
| }; |
| 134,22 → 133,15 |
|---|
| staticParams.externalControl = 0; |
| staticParams.IFactor = 52; |
| |
| staticParams.airspeedCorrection = 100; |
| staticParams.isFlyingThreshold = 100; |
| staticParams.airspeedCorrection = 1; |
| staticParams.isFlyingThreshold = 10; |
| |
| // Servos |
| staticParams.servoCount = 7; |
| staticParams.servosReverse = CONTROL_SERVO_REVERSE_ELEVATOR | CONTROL_SERVO_REVERSE_RUDDER; |
| staticParams.servos[CONTROL_ELEVATOR].reverse = 1; |
| staticParams.servos[CONTROL_AILERONS].reverse = 0; |
| staticParams.servos[CONTROL_RUDDER].reverse = 1; |
| |
| 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 |
| |
| 194,7 → 186,7 |
|---|
| IMUConfig.gyroPIDFilterConstant = 8; |
| IMUConfig.gyroDFilterConstant = 1; |
| IMUConfig.rateTolerance = 120; |
| IMUConfig.gyroDWindowLength = 3; |
| IMUConfig.gyroDWindowLength = 8; |
| IMUConfig.gyroQuadrant = 2; |
| IMUConfig.imuReversedFlags = 0; |
| |