| 87,13 → 87,12 |
|---|
| typedef struct { |
| // Global bitflags |
| uint8_t bitConfig; // see upper defines for bitcoding |
| uint8_t bitConfig2; // see upper defines for bitcoding |
| |
| // Height Control |
| uint8_t heightP; // Value : 0-32 |
| uint8_t heightD; // Value : 0-250 |
| uint8_t heightSetting; // Value : 0-32 |
| uint8_t heightMaxThrottleChange; // Value : 0-100 |
| uint8_t heightControlMaxThrottleChange; // Value : 0-100 |
| uint8_t heightSlewRate; // Value : 0-50 |
| uint8_t heightACCEffect; // Value : 0-250 |
| |
| 169,22 → 168,15 |
|---|
| #define MKFLAG_RESERVE3 (1<<7) |
| |
| // bit mask for staticParams.bitConfig |
| #define CFG_HEIGHT_CONTROL (1<<0) |
| #define CFG_HEIGHT_SWITCH (1<<1) |
| #define CFG_HEADING_HOLD (1<<2) |
| #define CFG_COMPASS_ACTIVE (1<<3) |
| #define CFG_COMPASS_FIX (1<<4) |
| #define CFG_GPS_ACTIVE (1<<5) |
| #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
| #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
| #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
| #define CFG_HEADING_HOLD (1<<2) |
| #define CFG_COMPASS_ACTIVE (1<<3) |
| #define CFG_COMPASS_FIX (1<<4) |
| #define CFG_GPS_ACTIVE (1<<5) |
| #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
| #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
| |
| // bit mask for staticParams.bitConfig2 |
| #define CFG_LOOP_UP (1<<0) |
| #define CFG_LOOP_DOWN (1<<1) |
| #define CFG_LOOP_LEFT (1<<2) |
| #define CFG_LOOP_RIGHT (1<<3) |
| #define CFG_HEIGHT_3SWITCH (1<<4) |
| |
| #define ATMEGA644 0 |
| #define ATMEGA644P 1 |
| #define SYSCLK F_CPU |
| 203,9 → 195,11 |
|---|
| #define MIX_ROLL 2 |
| #define MIX_YAW 3 |
| |
| #define VARIABLE_COUNT 8 |
| |
| extern volatile uint8_t MKFlags; |
| extern uint8_t requiredMotors; |
| extern int16_t variables[8]; // The "Poti"s. |
| extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
| extern uint8_t boardRelease; |
| extern uint8_t CPUType; |
| |