| 55,11 → 55,11 |
|---|
| #include "sensors.h" |
| #include "rc.h" |
| |
| int16_t variables[8] = {0,0,0,0,0,0,0,0}; |
| int16_t variables[VARIABLE_COUNT]; |
| paramset_t staticParams; |
| channelMap_t channelMap; |
| mixerMatrix_t mixerMatrix; |
| dynamicParam_t dynamicParams; // = {48,251,16,58,64,8,150,150,2,10,{0,0,0,0,0,0,0,0},100,70,90,65,64,100,0,0,0}; |
| dynamicParam_t dynamicParams; |
| uint8_t CPUType = ATMEGA644; |
| uint8_t boardRelease = 13; |
| uint8_t requiredMotors; |
| 70,8 → 70,8 |
|---|
| |
| void configuration_applyVariablesToParams(void) { |
| uint8_t i; |
| #define SET_POT_MM(b,a,min,max) {if (a<255) {if (a>=251) b=variables[a-251]; else b=a;} if(b<=min) b=min; else if(b>=max) b=max;} |
| #define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}} |
| #define SET_POT_MM(b,a,min,max) {if (a<255) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;} if(b<=min) b=min; else if(b>=max) b=max;} |
| #define SET_POT(b,a) { if (a<255) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;}} |
| SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200); |
| SET_POT(dynamicParams.gyroI, staticParams.gyroI); |
| SET_POT(dynamicParams.gyroD, staticParams.gyroD); |
| 104,11 → 104,11 |
|---|
| } |
| |
| const XLATION XLATIONS[] = { |
| // {offsetof(paramset_t, MaxHeight), offsetof(dynamicParam_t, MaxHeight)}, |
| {offsetof(paramset_t, heightSetting), offsetof(dynamicParam_t, heightSetting)}, |
| }; |
| |
| const MMXLATION MMXLATIONS[] = { |
| // {offsetof(paramset_t, HeightD), offsetof(dynamicParam_t, HeightD),0,100}, |
| {offsetof(paramset_t, heightD), offsetof(dynamicParam_t, heightD),0,100}, |
| }; |
| |
| uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
| 150,7 → 150,7 |
|---|
| |
| uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
| uint8_t CPUType = ATMEGA644; |
| if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
| //if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
| return CPUType; |
| } |
| |
| 202,9 → 202,8 |
|---|
| staticParams.heightP = 10; |
| staticParams.heightD = 30; |
| staticParams.heightSetting = 251; |
| staticParams.heightMaxThrottleChange = 10; |
| staticParams.heightControlMaxThrottleChange = 10; |
| staticParams.heightSlewRate = 4; |
| staticParams.heightACCEffect = 30; |
| |
| // Control |
| staticParams.stickP = 8; |
| 225,7 → 224,7 |
|---|
| staticParams.gyroI = 80; |
| staticParams.gyroD = 4; |
| |
| // set by gyro code. |
| // set by gyro-specific code: gyro_setDefaults(). |
| // staticParams.zerothOrderCorrection = |
| // staticParams.driftCompDivider = |
| // staticParams.driftCompLimit = |
| 253,9 → 252,9 |
|---|
| staticParams.emergencyFlightDuration = 30; |
| |
| // Outputs |
| staticParams.outputFlash[0].bitmask = 0b01011111; |
| staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
| staticParams.outputFlash[0].timing = 15; |
| staticParams.outputFlash[1].bitmask = 0b11110011; |
| staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
| staticParams.outputFlash[1].timing = 15; |
| |
| staticParams.outputFlags = 0; |
| 273,9 → 272,7 |
|---|
| } |
| |
| staticParams.bitConfig = |
| CFG_GYRO_SATURATION_PREVENTION | |
| CFG_HEADING_HOLD; |
| staticParams.bitConfig2 = 0; |
| CFG_GYRO_SATURATION_PREVENTION | CFG_HEADING_HOLD; |
| |
| memcpy(staticParams.name, "Default\0", 6); |
| } |