| 0,0 → 1,45 |
|---|
| Dongfang's FC firmware rewrite |
| ------------------------------ |
| |
| The basis was V0.74d Code Redesign Killagreg. |
| |
| Goal: |
| - To be the preferred hacker-friendly FC firmware. |
| - To use H&Is design experience but make the code clearer and easier to extend+modify. |
| |
| Non-goal: |
| - To follow up on all changes and all new features in the H&I firmware. |
| |
| Features: |
| - Readable, reasonably documented source code makes it easy to implement the features you |
| want yourself (and to remove those you don't like). |
| - The code was broken into smaller pieces and modularized (fc.c in particular). |
| Global variables are (almost) only written to by one module each. |
| - New or experimental hardware is easy to incorporate. Gyro and acc. meter axes are reversible, |
| and resetting the sensitivity actually works. |
| - New or experiemental controls are easy to incorporate. All controls (eg. R/C, external |
| serial, NC, automatic emergency landing pilot and automatic altitude controller pilot) |
| are potentially abstractable to one interface. |
| - Reversal of gyro or accelerometer axes is easy. It is easy to adapt the firmware for |
| upside down installation of the FC too. |
| - The firmware is compatible with MK-Tool. This may be changed, if somebody writes a new |
| MK-Tool which is easy to adapt for addition of / removal of features. |
| |
| Non-features (currently): |
| - Navi support temporarily removed (should be added again later). |
| - Compass support temporarily removed (should be added again later). |
| - Parts of menu.c are dummy implemented or removed. It is possible that menu.c and all use |
| of printf will be removed later, and replaced by something else (debud on steroids). |
| - Control rate limiter removed. |
| - Altitude control temporarily removed (should be added again later). |
| - Automatic board detection removed. This firmware is for compiling yourself, possibly |
| with nonstandard or experimental hardware. That conflicts with automatically switching |
| between standard hardware versions, so the feature was removed. Instead, is was made |
| easy to choose gyro types etc. in the makefile. |
| |
| How to build: |
| - Choose a gyro definition, depending on your hardware, and enable it in the makefile |
| and (GYRO=.....) and #include its header file in analog.h (how to make that follow the |
| makefile automatically?). Currently, ENC-03_FC1.3, ADXRS610_FC2.0 and invenSense are |
| supported (each has a .c and a .h file). |
| - make all |