| 11,6 → 11,7 |
|---|
| ParamSet_t staticParams; |
| channelMap_t channelMap; |
| mixerMatrix_t mixerMatrix; |
| IMUConfig_t IMUConfig; |
| volatile DynamicParams_t dynamicParams; |
| |
| uint8_t CPUType; |
| 152,11 → 153,6 |
|---|
| staticParams.externalControl = 0; |
| staticParams.motorSmoothing = 0; |
| |
| // IMU |
| staticParams.gyroPIDFilterConstant = 1; |
| staticParams.gyroDFilterConstant = 1; |
| staticParams.accFilterConstant = 10; |
| |
| staticParams.gyroP = 60; |
| staticParams.gyroI = 80; |
| staticParams.gyroD = 4; |
| 167,8 → 163,6 |
|---|
| // staticParams.driftCompLimit = |
| |
| staticParams.dynamicStability = 50; |
| staticParams.rateTolerance = 10; |
| staticParams.yawRateFactor = 4; |
| staticParams.IFactor = 52; |
| staticParams.yawIFactor = 100; |
| staticParams.compassYawCorrection = 64; |
| 201,6 → 195,14 |
|---|
| staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
| |
| staticParams.naviMode = 0; // free. |
| staticParams.airpressureWindowLength = 0; |
| staticParams.airpressureDWindowLength = 24; |
| |
| staticParams.heightControlMaxIntegralIn = 125; |
| staticParams.heightControlMaxIntegralOut = 75; |
| staticParams.heightControlMaxThrottleChange = 75; |
| staticParams.heightControlTestOscPeriod = 0; |
| staticParams.heightControlTestOscAmplitude = 0; |
| } |
| |
| /***************************************************/ |
| 208,10 → 210,9 |
|---|
| /***************************************************/ |
| void paramSet_default(uint8_t setnumber) { |
| setOtherDefaults(); |
| gyro_setDefaultParameters(); |
| |
| for (uint8_t i=0; i<8; i++) { |
| staticParams.userParams[i] = 0; |
| staticParams.userParams[i] = i; |
| } |
| |
| staticParams.bitConfig = |
| 220,6 → 221,16 |
|---|
| memcpy(staticParams.name, "Default\0", 6); |
| } |
| |
| void IMUConfig_default(void) { |
| IMUConfig.gyroPIDFilterConstant = 1; |
| IMUConfig.gyroDFilterConstant = 1; |
| IMUConfig.accFilterConstant = 10; |
| IMUConfig.rateTolerance = 120; |
| IMUConfig.yawRateFactor = 4; |
| |
| gyro_setDefaultParameters(); |
| } |
| |
| /***************************************************/ |
| /* Default Values for Mixer Table */ |
| /***************************************************/ |