/branches/dongfang_FC_rewrite/control.c |
---|
File deleted |
/branches/dongfang_FC_rewrite/control.h |
---|
File deleted |
/branches/dongfang_FC_rewrite/analog.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/attitude.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
229,24 → 229,15 |
int16_t cospitch = int_cos(angle[PITCH]); |
int16_t cosroll = int_cos(angle[ROLL]); |
int16_t sinroll = int_sin(angle[ROLL]); |
int16_t tanpitch = int_tan(angle[PITCH]); |
int16_t test; |
ACRate[PITCH] = (((int32_t) rate_ATT[PITCH] * cosroll - (int32_t) yawRate |
* sinroll) >> MATH_UNIT_FACTOR_LOG); |
ACRate[ROLL] = rate_ATT[ROLL] + |
(((((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll) |
>> MATH_UNIT_FACTOR_LOG) |
* int_tan(angle[PITCH])) >> MATH_UNIT_FACTOR_LOG); |
#define ANTIOVF 512 |
ACRate[PITCH] = ((int32_t) rate_ATT[PITCH] * cosroll - (int32_t) yawRate |
* sinroll) / (int32_t) MATH_UNIT_FACTOR; |
ACRate[ROLL] = rate_ATT[ROLL] + (((int32_t) rate_ATT[PITCH] * sinroll |
/ ANTIOVF * tanpitch + (int32_t) yawRate * int_cos(angle[ROLL]) / ANTIOVF |
* tanpitch) / ((int32_t) MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR)); |
test = rate_ATT[ROLL] + |
(((rate_ATT[PITCH] * sinroll + yawRate * cosroll) >> 14) * tanpitch) >> 14; |
DebugOut.Analog[20] = ACRate[ROLL]; |
DebugOut.Analog[21] = test; |
ACYawRate = ((int32_t) rate_ATT[PITCH] * sinroll) / cospitch |
+ ((int32_t) yawRate * cosroll) / cospitch; |
} |
/branches/dongfang_FC_rewrite/commands.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/configuration.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/configuration.h |
---|
70,7 → 70,7 |
uint8_t GyroI; // Value : 0-250 |
uint8_t GyroD; // Value : 0-250 |
uint8_t LowVoltageWarning; // Value : 0-250 |
uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Emp�ngsverlust |
uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Empüngsverlust |
uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
uint8_t Unused0; // |
uint8_t IFactor; // Value : 0-250 |
85,14 → 85,14 |
uint8_t ServoPitchMin; // Value : 0-250 // Anschlag |
uint8_t ServoPitchMax; // Value : 0-250 // Anschlag |
uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
uint8_t LoopGasLimit; // Value: 0-250 max. Gas w�hrend Looping |
uint8_t LoopThreshold; // Value: 0-250 Schwelle f�r Stickausschlag |
uint8_t LoopHysteresis; // Value: 0-250 Hysterese f�r Stickausschlag |
uint8_t LoopGasLimit; // Value: 0-250 max. Gas wührend Looping |
uint8_t LoopThreshold; // Value: 0-250 Schwelle für Stickausschlag |
uint8_t LoopHysteresis; // Value: 0-250 Hysterese für Stickausschlag |
uint8_t AxisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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 |
uint8_t AngleTurnOverPitch; // Value: 0-250 180�-Punkt |
uint8_t AngleTurnOverRoll; // Value: 0-250 180�-Punkt |
uint8_t AngleTurnOverPitch; // Value: 0-250 180ü-Punkt |
uint8_t AngleTurnOverRoll; // Value: 0-250 180ü-Punkt |
uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
uint8_t DriftComp; // limit for gyrodrift compensation |
uint8_t DynamicStability; // PID limit for Attitude controller |
/branches/dongfang_FC_rewrite/controlMixer.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
156,6 → 156,8 |
int16_t* RC_PRTY = RC_getPRTY(); |
int16_t* EC_PRTY = EC_getPRTY(); |
DebugOut.Analog[20] = RC_PRTY[CONTROL_THROTTLE]; |
control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
// This can be a CPU time killer if the function implementations are inefficient. |
/branches/dongfang_FC_rewrite/controlMixer.h |
---|
99,11 → 99,13 |
uint8_t controlMixer_getSignalQuality(void); |
/* |
* The controls operate in a [-150 * CONTROL_SCALING, 150 * CONTROL_SCALING] interval |
* Throttle is [0..300 * CONTROL_SCALING]. |
* (just about. No precision needed). |
* The controls operate in [-1024, 1024] just about. |
* Throttle is [0..255] just about. |
*/ |
// Scale controls to 1 byte: |
#define CONTROL_SCALING (1024/256) |
// Scale throttle levels to byte: |
#define MOTOR_SCALING (1024/256) |
/* |
/branches/dongfang_FC_rewrite/dongfangMath.h |
---|
14,7 → 14,8 |
//#define MATH_UNIT_FACTOR 8192 |
// Changed: We want to be able to multiply 2 sines/cosines and still stay comfortably (factor 100) within 31 bits. |
// 4096 = 12 bits, square = 24 bits, 7 bits to spare. |
#define MATH_UNIT_FACTOR 4096 |
#define MATH_UNIT_FACTOR_LOG 12 |
#define MATH_UNIT_FACTOR (1L<<MATH_UNIT_FACTOR_LOG) |
int16_t int_sin(int32_t arg); |
int16_t int_cos(int32_t arg); |
/branches/dongfang_FC_rewrite/eeprom.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/flight.c |
---|
1,28 → 1,28 |
\// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur f�r den privaten Gebrauch |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig ist. |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zul�ssig |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
89,9 → 89,6 |
uint16_t Ki = 10300 / 33; |
uint8_t RequiredMotors = 0; |
// No support for altitude control right now. |
// int16_t SetPointHeight = 0; |
/************************************************************************/ |
/* Filter for motor value smoothing (necessary???) */ |
/************************************************************************/ |
179,7 → 176,6 |
// Fire the main flight attitude calculation, including integration of angles. |
calculateFlightAttitude(); |
J5HIGH; |
throttleTerm = controlThrottle; |
// This check removed. Is done on a per-motor basis, after output matrix multiplication. |
if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
261,8 → 257,6 |
if(throttleTerm > staticParams.LoopGasLimit) throttleTerm = staticParams.LoopGasLimit; |
} |
J5LOW; |
/************************************************************************/ |
/* Yawing */ |
/************************************************************************/ |
309,6 → 303,7 |
/* and angular velocity (gyro signal) */ |
/************************************************************************/ |
// The P-part is the P of the PID controller. That's the angle integrals (not rates). |
for (axis=PITCH; axis<=ROLL; axis++) { |
if(looping & ((1<<4)<<axis)) { |
PPart[axis] = 0; |
348,8 → 343,6 |
// Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
throttleTerm *= CONTROL_SCALING; |
J5HIGH; |
/* |
* Compose yaw term. |
* The yaw term is limited: Absolute value is max. = the throttle term / 2. |
391,8 → 384,6 |
DebugOut.Digital[0] |= DEBUG_CLIP; |
} |
J5LOW; |
// CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
DebugOut.Digital[1] &= ~DEBUG_CLIP; |
for (axis=PITCH; axis<=ROLL; axis++) { |
432,8 → 423,6 |
} |
// end part 3: 350 - 400 usec. |
J5HIGH; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Universal Mixer |
// Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
475,8 → 464,6 |
} |
I2C_Start(TWI_STATE_MOTOR_TX); |
J5LOW; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Debugging |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
/branches/dongfang_FC_rewrite/gps.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/main.c |
---|
1,28 → 1,28 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur f�r den privaten Gebrauch |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig ist. |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zul�ssig |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/menu.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/mk3mag.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/output.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/rc.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
129,11 → 129,11 |
/********************************************************************/ |
/* t-Frame |
<-----------------------------------------------------------------------> |
____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | |
| | | | | | | | | | | |
___| |_| |_| |_| |_.............| |________________| |
<-----><-------><------><--------> <------> <--- |
____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | |
| | | | | | | | | | | |
___| |_| |_| |_| |_.............| |________________| |
<-----><-------><------><--------> <------> <--- |
t0 t1 t2 t4 tn t0 |
The PPM-Frame length is 22.5 ms. |
251,6 → 251,9 |
if (NewPpmData-- == 0) { |
RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
+ RCDiff(CH_PITCH) * staticParams.StickD; |
DebugOut.Analog[21] = RCChannel(CH_THROTTLE); |
RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
+ RCDiff(CH_ROLL) * staticParams.StickD; |
RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
/branches/dongfang_FC_rewrite/spi.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/timer0.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/timer2.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/twimaster.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
/branches/dongfang_FC_rewrite/uart0.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
143,8 → 143,8 |
"0th O Corr roll ", |
"DriftCompDelta P", |
"DriftCompDelta R", |
"ACRollRate1 ", //20 |
"ACRollRate2 ", |
"StickP ", //20 |
"RC T ", |
"M1 ", |
"M2 ", |
"M3 ", |
/branches/dongfang_FC_rewrite/uart1.c |
---|
32,7 → 32,7 |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |