| 10,7 → 10,6 |
|---|
| /*PMM*/uint8_t HeightP; |
| /* P */uint8_t Height_ACC_Effect; |
| /* P */uint8_t CompassYawEffect; |
| /* P */uint8_t unnused; |
| |
| /* P */uint8_t GyroPitchP; |
| /* P */uint8_t GyroRollP; |
| 23,23 → 22,9 |
|---|
| /* P */uint8_t GyroRollD; // AxisCoupling1 in tool |
| /* P */uint8_t GyroYawD; // AxisCoupling2 in tool |
| |
| /* P */uint8_t AxisCouplingYawCorrection; |
| /* P */uint8_t DynamicStability; |
| /* P */uint8_t ExternalControl; |
| /*PMM*/uint8_t J16Timing; |
| /*PMM*/uint8_t J17Timing; |
| /* P */uint8_t NaviGpsModeControl; |
| /* P */uint8_t NaviGpsGain; |
| /* P */uint8_t NaviGpsP; |
| /* P */uint8_t NaviGpsI; |
| /* P */uint8_t NaviGpsD; |
| /* P */uint8_t NaviGpsACC; |
| /*PMM*/uint8_t NaviOperatingRadius; |
| /* P */uint8_t NaviWindCorrection; |
| /* P */uint8_t NaviSpeedCompensation; |
| int8_t KalmanK; |
| int8_t KalmanMaxDrift; |
| int8_t KalmanMaxFusion; |
| } dynamicParam_t; |
| extern dynamicParam_t dynamicParams; |
| |
| 63,31 → 48,39 |
|---|
| uint8_t Height_Gain; // Value : 0-50 |
| uint8_t Height_ACC_Effect; // Value : 0-250 |
| |
| uint8_t StickElevatorP; // StickP in tool. |
| uint8_t StickAileronsP; // StickD in tool. |
| uint8_t StickRudderP; // StickYawP in tool. |
| uint8_t StickElevatorP; |
| uint8_t StickAileronsP; |
| uint8_t StickRudderP; |
| |
| uint8_t GyroAccFactor; // Value : 1-64 |
| uint8_t CompassYawEffect; // Value : 0-32 |
| uint8_t PIDGyroFilter;// Value: 1-8 |
| |
| uint8_t DGyroFilter; // Value: 1-8 |
| uint8_t attitudeGyroFilter; // Value: 1-8 |
| |
| uint8_t GyroPitchP; // GyroP in tool |
| uint8_t GyroRollP; // GyroI in tool |
| uint8_t GyroYawP; // GyroD in tool |
| uint8_t accFilter; |
| |
| uint8_t GyroPitchP; |
| uint8_t GyroRollP; |
| uint8_t GyroYawP; |
| |
| uint8_t UserParams[8]; // Value : 0-250 |
| |
| uint8_t LowVoltageWarning; // Value : 0-250 |
| |
| uint8_t ControlSigns; |
| uint8_t servoDirections; |
| uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
| |
| uint8_t GyroPitchD; // LoopGasLimit in tool |
| uint8_t GyroRollD; // loopThreshold in tool |
| uint8_t GyroYawD; // loopHysteresis in tool |
| uint8_t GyroPitchD; |
| uint8_t GyroRollD; |
| uint8_t GyroYawD; |
| |
| uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
| uint8_t DriftComp; // limit for gyrodrift compensation |
| uint8_t zerothOrderGyroCorrectionZAccLimit; |
| uint8_t zerothOrderGyroCorrectionFactorx1000; |
| |
| uint8_t secondOrderGyroCorrectionDivisor; |
| uint8_t secondOrderGyroCorrectionLimit; |
| uint8_t CompassYawEffect; // Value : 0-32 |
| |
| uint8_t J16Bitmask; // for the J16 Output |
| uint8_t J16Timing; // for the J16 Output |
| uint8_t J17Bitmask; // for the J17 Output |
| 94,12 → 87,6 |
|---|
| uint8_t J17Timing; // for the J17 Output |
| |
| uint8_t ExternalControl; // for serial Control |
| uint8_t BitConfig; // see upper defines for bitcoding |
| |
| uint8_t accCorrectionZAccLimit; |
| uint8_t sensorFilterSettings; |
| |
| uint8_t Reserved[4]; |
| } paramset_t; |
| |
| #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
| 134,12 → 121,10 |
|---|
| #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
| #define CFG_ROTARY_RATE_LIMITER (1<<7) |
| |
| // bit mask for staticParams.BitConfig |
| #define CFG_LOOP_UP (1<<0) |
| #define CFG_LOOP_DOWN (1<<1) |
| #define CFG_LOOP_LEFT (1<<2) |
| #define CFG_LOOP_RIGHT (1<<3) |
| #define CFG_HEIGHT_3SWITCH (1<<4) |
| // bit mask for staticParams.ServoDirections |
| #define SERVO_DIRECTION_ELEVATOR (1<<0) |
| #define SERVO_DIRECTION_AILERONS (1<<1) |
| #define SERVO_DIRECTION_RUDDER (1<<2) |
| |
| #define ATMEGA644 0 |
| #define ATMEGA644P 1 |