55,6 → 55,8 |
#include "configuration.h" |
#include "sensors.h" |
#include "rc.h" |
#include "uart0.h" |
|
int16_t variables[VARIABLE_COUNT]; |
paramset_t staticParams; |
channelMap_t channelMap; |
95,7 → 97,6 |
SET_POT_MM(dynamicParams.heightP, staticParams.heightP,0,100); |
SET_POT_MM(dynamicParams.heightD, staticParams.heightD,0,100); |
SET_POT(dynamicParams.heightSetting,staticParams.heightSetting); |
SET_POT(dynamicParams.heightACCEffect,staticParams.heightACCEffect); |
SET_POT(dynamicParams.attitudeControl,staticParams.attitudeControl); |
|
for (i=0; i<sizeof(staticParams.userParams); i++) { |
224,7 → 225,7 |
staticParams.gyroPIDFilterConstant = 1; |
staticParams.gyroATTFilterConstant = 1; |
staticParams.gyroDFilterConstant = 1; |
staticParams.accFilterConstant = 4; |
staticParams.accFilterConstant = 10; |
|
staticParams.gyroP = 60; |
staticParams.gyroI = 80; |
239,18 → 240,20 |
staticParams.axisCoupling2 = 67; |
staticParams.axisCouplingYawCorrection = 0; |
staticParams.dynamicStability = 50; |
staticParams.IFactor = 32; |
staticParams.IFactor = 32; |
staticParams.yawIFactor = 100; |
staticParams.compassYawEffect = 128; |
|
// Servos |
for (uint8_t i=0; i<2; i++) { |
staticParams.servoConfigurations[i].manualControl = 128; |
staticParams.servoConfigurations[i].compensationFactor = 0; |
staticParams.servoConfigurations[i].minValue = 64; |
staticParams.servoConfigurations[i].maxValue = 192; |
staticParams.servoConfigurations[i].manualMaxSpeed = 10; |
staticParams.servoConfigurations[i].compensationFactor = 100; |
staticParams.servoConfigurations[i].minValue = 32; |
staticParams.servoConfigurations[i].maxValue = 224; |
staticParams.servoConfigurations[i].flags = 0; |
} |
staticParams.servoCount = 4; |
staticParams.servoCount = 7; |
|
// Battery warning and emergency flight |
staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |