5,53 → 5,50 |
#include <avr/io.h> |
|
typedef struct { |
uint8_t HeightD; |
uint8_t MaxHeight; |
uint8_t HeightP; |
uint8_t Height_ACC_Effect; |
uint8_t CompassYawEffect; |
uint8_t GyroD; |
uint8_t GyroP; |
uint8_t GyroI; |
uint8_t StickYawP; |
uint8_t IFactor; |
uint8_t UserParams[8]; |
/* |
uint8_t UserParam2; |
uint8_t UserParam3; |
uint8_t UserParam4; |
uint8_t UserParam5; |
uint8_t UserParam6; |
uint8_t UserParam7; |
uint8_t UserParam8; |
*/ |
uint8_t ServoPitchControl; |
uint8_t LoopGasLimit; |
uint8_t AxisCoupling1; |
uint8_t AxisCoupling2; |
uint8_t AxisCouplingYawCorrection; |
uint8_t DynamicStability; |
uint8_t ExternalControl; |
uint8_t J16Timing; |
uint8_t J17Timing; |
#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
uint8_t NaviGpsModeControl; |
uint8_t NaviGpsGain; |
uint8_t NaviGpsP; |
uint8_t NaviGpsI; |
uint8_t NaviGpsD; |
uint8_t NaviGpsACC; |
uint8_t NaviOperatingRadius; |
uint8_t NaviWindCorrection; |
uint8_t NaviSpeedCompensation; |
#endif |
int8_t KalmanK; |
int8_t KalmanMaxDrift; |
int8_t KalmanMaxFusion; |
} fc_param_t; |
/*PMM*/ uint8_t HeightD; |
/* P */ uint8_t MaxHeight; |
/*PMM*/ uint8_t HeightP; |
/* P */ uint8_t Height_ACC_Effect; |
/* P */ uint8_t CompassYawEffect; |
/* P */ uint8_t GyroD; |
/*PMM*/ uint8_t GyroP; |
/* P */ uint8_t GyroI; |
/* Never used */ uint8_t StickYawP; |
/* P */ uint8_t IFactor; |
/* P */ uint8_t UserParams[8]; |
/* P */ uint8_t ServoPitchControl; |
/* P */ uint8_t LoopGasLimit; |
/* P */ uint8_t AxisCoupling1; |
/* P */ uint8_t AxisCoupling2; |
/* P */ uint8_t AxisCouplingYawCorrection; |
/* P */ uint8_t DynamicStability; |
/* P */ uint8_t ExternalControl; |
/*PMM*/ uint8_t J16Timing; |
/*PMM*/ uint8_t J17Timing; |
/* P */ uint8_t NaviGpsModeControl; |
/* P */ uint8_t NaviGpsGain; |
/* P */ uint8_t NaviGpsP; |
/* P */ uint8_t NaviGpsI; |
/* P */ uint8_t NaviGpsD; |
/* P */ uint8_t NaviGpsACC; |
/*PMM*/ uint8_t NaviOperatingRadius; |
/* P */ uint8_t NaviWindCorrection; |
/* P */ uint8_t NaviSpeedCompensation; |
int8_t KalmanK; |
int8_t KalmanMaxDrift; |
int8_t KalmanMaxFusion; |
} dynamicParam_t; |
extern dynamicParam_t dynamicParams; |
|
extern fc_param_t dynamicParams; |
typedef struct { |
uint8_t sourceIdx, targetIdx; |
uint8_t min, max; |
} MMXLATION; |
|
typedef struct { |
uint8_t sourceIdx, targetIdx; |
} XLATION; |
|
// values above 250 representing poti1 to poti4 |
typedef struct { |
uint8_t ChannelAssignment[8]; // see upper defines for details |
164,7 → 161,7 |
#define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
#define CFG_ROTARY_RATE_LIMITER (1<<7) |
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// bit mask for ParamSet.BitConfig |
// bit mask for staticParams.BitConfig |
#define CFG_LOOP_UP (1<<0) |
#define CFG_LOOP_DOWN (1<<1) |
#define CFG_LOOP_LEFT (1<<2) |