| 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 |