56,12 → 56,13 |
#include "sensors.h" |
#include "rc.h" |
#include "output.h" |
#include "flight.h" |
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int16_t variables[VARIABLE_COUNT]; |
ParamSet_t staticParams; |
channelMap_t channelMap; |
mixerMatrix_t mixerMatrix; |
volatile dynamicParam_t dynamicParams; |
volatile DynamicParams_t dynamicParams; |
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uint8_t CPUType = ATMEGA644; |
uint8_t boardRelease = 13; |
73,59 → 74,28 |
uint16_t isFlying = 0; |
volatile uint8_t MKFlags = 0; |
|
/************************************************************************ |
* Map the parameter to pot values |
* Replacing this code by the code below saved almost 1 kbyte. |
************************************************************************/ |
const MMXLATION XLATIONS[] = { |
{offsetof(ParamSet_t, levelCorrection[0]), offsetof(DynamicParams_t, levelCorrection[0]),0,255}, |
{offsetof(ParamSet_t, levelCorrection[1]), offsetof(DynamicParams_t, levelCorrection[1]),0,255}, |
{offsetof(ParamSet_t, gyroP), offsetof(DynamicParams_t, gyroP),0,255}, |
{offsetof(ParamSet_t, gyroI), offsetof(DynamicParams_t, gyroI),0,255}, |
{offsetof(ParamSet_t, gyroD), offsetof(DynamicParams_t, gyroD),0,255}, |
{offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255}, |
{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
{offsetof(ParamSet_t, dynamicStability), offsetof(DynamicParams_t, dynamicStability),0,255}, |
{offsetof(ParamSet_t, heightP), offsetof(DynamicParams_t, heightP),0,255}, |
{offsetof(ParamSet_t, heightI), offsetof(DynamicParams_t, heightI),0,255}, |
{offsetof(ParamSet_t, heightD), offsetof(DynamicParams_t, heightD),0,255}, |
{offsetof(ParamSet_t, heightSetting), offsetof(DynamicParams_t, heightSetting),0,255}, |
{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255}, |
{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255}, |
{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255}, |
{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255}, |
{offsetof(ParamSet_t, naviMode), offsetof(DynamicParams_t, naviMode),0,255}}; |
|
void configuration_applyVariablesToParams(void) { |
uint8_t i; |
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#define SET_POT_MM(b,a,min,max) {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-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); |
//SET_POT(dynamicParams.compassControlHeading,staticParams.compassControlHeading); |
|
SET_POT(dynamicParams.externalControl, staticParams.externalControl); |
SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability); |
SET_POT(dynamicParams.maxAccVector,staticParams.maxAccVector); |
|
SET_POT(dynamicParams.heightP, staticParams.heightP); |
SET_POT(dynamicParams.heightI, staticParams.heightI); |
SET_POT(dynamicParams.heightD, staticParams.heightD); |
SET_POT(dynamicParams.heightSetting,staticParams.heightSetting); |
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SET_POT(dynamicParams.attitudeControl,staticParams.attitudeControl); |
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SET_POT(dynamicParams.servoManualControl[0], staticParams.servoConfigurations[0].manualControl); |
SET_POT(dynamicParams.servoManualControl[1], staticParams.servoConfigurations[1].manualControl); |
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SET_POT_MM(dynamicParams.output0Timing, staticParams.outputFlash[0].timing,1,255); |
SET_POT_MM(dynamicParams.output1Timing, staticParams.outputFlash[1].timing,1,255); |
|
SET_POT(dynamicParams.levelCorrection[0], staticParams.levelCorrection[0]); |
SET_POT(dynamicParams.levelCorrection[1], staticParams.levelCorrection[1]); |
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SET_POT(dynamicParams.naviMode, staticParams.naviMode); |
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for (i=0; i<sizeof(staticParams.userParams); i++) { |
SET_POT(dynamicParams.userParams[i],staticParams.userParams[i]); |
} |
} |
|
const XLATION XLATIONS[] = { |
{offsetof(ParamSet_t, heightSetting), offsetof(dynamicParam_t, heightSetting)}, |
}; |
|
const MMXLATION MMXLATIONS[] = { |
{offsetof(ParamSet_t, heightD), offsetof(dynamicParam_t, heightD),0,100}, |
}; |
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uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
uint8_t result; |
if (src>=251) result = variables[src-251]; |
if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
else result = src; |
if (result < min) result = min; |
else if (result > max) result = max; |
132,31 → 102,21 |
return result; |
} |
|
void configuration_applyVariablesToParams_dead(void) { |
void configuration_applyVariablesToParams(void) { |
uint8_t i, src; |
uint8_t* pointerToTgt; |
for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) { |
src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx)); |
pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
if (src < 255) { |
*pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
} |
|
for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
*pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
} |
|
for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) { |
src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx)); |
pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
if (src < 255) { |
*pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max); |
} |
} |
|
// User parameters are always variable. |
for (i=0; i<sizeof(staticParams.userParams); i++) { |
src = *((uint8_t*)(&staticParams + offsetof(ParamSet_t, userParams) + i)); |
pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, userParams) + i); |
if (src < 255) { |
*pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
} |
src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
*pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
} |
} |
|
176,7 → 136,6 |
* tedious to have to modify the code for how to turn on and off LEDs when deploying |
* on different HW version.... |
*/ |
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uint8_t getBoardRelease(void) { |
uint8_t boardRelease = 13; |
// the board release is coded via the pull up or down the 2 status LED |
209,6 → 168,24 |
return boardRelease; |
} |
|
void configuration_setNormalFlightParameters(void) { |
flight_setParameters(staticParams.IFactor, dynamicParams.gyroP, |
staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
dynamicParams.gyroP, staticParams.yawIFactor); |
} |
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void configuration_setFailsafeFlightParameters(void) { |
flight_setParameters(0, 90, 120, 90, 120); |
} |
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// Called after a change in configuration parameters, as a hook for modules to take over changes. |
void configuration_paramSetDidChange(void) { |
// This should be OK to do here as long as we don't change parameters during emergency flight. We don't. |
configuration_setNormalFlightParameters(); |
// Immediately load changes to output, and also signal the paramset change. |
output_init(); |
} |
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void setOtherDefaults(void) { |
// Height Control |
staticParams.airpressureFilterConstant = 8; |
246,7 → 223,8 |
// staticParams.driftCompLimit = |
|
staticParams.dynamicStability = 50; |
staticParams.maxAccVector = 10; |
staticParams.zerothOrderCorrectionAccTolerance = 60; |
staticParams.zerothOrderCorrectionControlTolerance = 60; |
staticParams.IFactor = 52; |
staticParams.yawIFactor = 100; |
staticParams.compassYawCorrection = 64; |