5,6 → 5,7 |
|
Goal: |
- To be the preferred hacker-friendly FC firmware. |
- To use H&Is design experience but make the code clearer and easier to extend+modify. |
|
Non-goal: |
- To follow up on all changes and all new features in the H&I firmware. |
16,6 → 17,13 |
Global variables are (almost) only written to by one module each. |
- New or experimental hardware is easy to incorporate. Gyro and acc. meter axes are reversible, |
and resetting the sensitivity actually works. |
- New or experiemental controls are easy to incorporate. All controls (eg. R/C, external |
serial, NC, automatic emergency landing pilot and automatic altitude controller pilot) |
are potentially abstractable to one interface. |
- Reversal of gyro or accelerometer axes is easy. It is easy to adapt the firmware for |
upside down installation of the FC too. |
- The firmware is compatible with MK-Tool. This may be changed, if somebody writes a new |
MK-Tool which is easy to adapt for addition of / removal of features. |
|
Non-features (currently): |
- Navi support temporarily removed (should be added again later). |
27,4 → 35,11 |
- Automatic board detection removed. This firmware is for compiling yourself, possibly |
with nonstandard or experimental hardware. That conflicts with automatically switching |
between standard hardware versions, so the feature was removed. Instead, is was made |
easy to choose gyro types etc. in the makefile. |
easy to choose gyro types etc. in the makefile. |
|
How to build: |
- Choose a gyro definition, depending on your hardware, and enable it in the makefile |
and (GYRO=.....) and #include its header file in analog.h (how to make that follow the |
makefile automatically?). Currently, ENC-03_FC1.3, ADXRS610_FC2.0 and invenSense are |
supported (each has a .c and a .h file). |
- make all |