40,38 → 40,31 |
typedef struct { |
// IMU |
/*PMM*/uint8_t gyroP; |
/* P */uint8_t gyroI; |
/* P */uint8_t gyroD; |
/* P */uint8_t gyroI; |
/* P */uint8_t IFactor; |
uint8_t yawIFactor; |
/* P */uint8_t compassYawEffect; |
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// Control |
/* P */uint8_t externalControl; |
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/* P */uint8_t axisCoupling1; |
/* P */uint8_t axisCoupling2; |
/* P */uint8_t axisCouplingYawCorrection; |
/* P */uint8_t dynamicStability; |
uint8_t maxAccVector; |
|
// Height control |
/*PMM*/uint8_t heightP; |
/* P */uint8_t heightI; |
/*PMM*/uint8_t heightD; |
/* P */uint8_t heightSetting; |
/* P */uint8_t heightACCEffect; |
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uint8_t attitudeControl; |
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// The rest... |
/* P */uint8_t userParams[8]; |
/*PMM*/uint8_t output0Timing; |
/*PMM*/uint8_t output1Timing; |
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uint8_t servoManualControl[2]; |
uint8_t levelCorrection[2]; |
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uint8_t motorSmoothing; |
uint8_t levelCorrection[2]; |
/* P */uint8_t userParams[8]; |
} dynamicParam_t; |
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extern volatile dynamicParam_t dynamicParams; |
120,30 → 113,6 |
// Global bitflags |
uint8_t bitConfig; // see upper defines for bitcoding |
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// Height Control |
uint8_t airpressureFilter; |
uint8_t airpressureAccZCorrection; |
uint8_t heightP; |
uint8_t heightD; |
uint8_t heightSetting; |
uint8_t heightControlMaxThrottleChange; |
uint8_t heightSlewRate; |
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// Attitude Control |
uint8_t attitudeControl; |
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// Control |
uint8_t stickP; |
uint8_t stickD; |
uint8_t stickYawP; |
uint8_t stickThrottleD; |
uint8_t minThrottle; |
uint8_t maxThrottle; |
uint8_t externalControl; // for serial Control |
uint8_t maxAccVector; |
uint8_t maxControlActivity; |
uint8_t motorSmoothing; |
|
// IMU |
uint8_t gyroQuadrant; |
uint8_t accQuadrant; |
154,10 → 123,8 |
uint8_t gyroDFilterConstant; |
uint8_t accFilterConstant; |
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uint8_t gyroP; |
uint8_t gyroI; |
uint8_t gyroD; |
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uint8_t maxAccVector; |
uint8_t maxControlActivity; |
uint8_t zerothOrderCorrection; |
uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
uint8_t driftCompLimit; // limit for gyrodrift compensation |
166,22 → 133,46 |
uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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uint8_t levelCorrection[2]; |
|
// Control |
uint8_t gyroP; |
uint8_t gyroI; |
uint8_t gyroD; |
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uint8_t attitudeControl; |
uint8_t stickP; |
uint8_t stickD; |
uint8_t stickYawP; |
uint8_t stickThrottleD; |
uint8_t minThrottle; |
uint8_t maxThrottle; |
uint8_t externalControl; // for serial Control |
uint8_t motorSmoothing; |
uint8_t dynamicStability; // PID limit for Attitude controller |
uint8_t IFactor; |
uint8_t yawIFactor; |
uint8_t compassYawEffect; |
uint8_t levelCorrection[2]; |
uint8_t batteryVoltageWarning; |
uint8_t emergencyThrottle; |
uint8_t emergencyFlightDuration; |
|
// Height Control |
uint8_t airpressureFilter; |
uint8_t airpressureAccZCorrection; |
uint8_t heightP; |
uint8_t heightI; |
uint8_t heightD; |
uint8_t heightSetting; |
uint8_t heightControlMaxIntegralThrottleChange; |
uint8_t heightControlMaxThrottleChange; |
uint8_t heightSlewRate; |
|
// Servos |
uint8_t servoCount; |
uint8_t servoManualMaxSpeed; |
servo_t servoConfigurations[2]; // [PITCH, ROLL] |
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// Battery warning and emergency flight |
uint8_t batteryVoltageWarning; |
uint8_t emergencyThrottle; |
uint8_t emergencyFlightDuration; |
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// Outputs |
output_flash_t outputFlash[2]; |
uint8_t outputDebugMask; |