| /branches/dongfang_FC_fixedwing/arduino_atmega328/configuration.c |
|---|
| 142,7 → 142,7 |
| } |
| void IMUConfig_default(void) { |
| IMUConfig.gyroPIDFilterConstant = 1; |
| IMUConfig.gyroPIDFilterConstant = 10; |
| IMUConfig.gyroDFilterConstant = 1; |
| IMUConfig.rateTolerance = 120; |
| IMUConfig.gyroDWindowLength = 3; |
| /branches/dongfang_FC_fixedwing/arduino_atmega328/flight.c |
|---|
| 77,11 → 77,6 |
| } |
| } |
| #define LOG_STICK_SCALE 8 |
| #define LOG_P_SCALE 8 |
| #define LOG_I_SCALE 12 |
| #define LOG_D_SCALE 8 |
| /************************************************************************/ |
| /* Main Flight Control */ |
| /************************************************************************/ |
| /branches/dongfang_FC_fixedwing/arduino_atmega328/flight.h |
|---|
| 14,6 → 14,11 |
| #define YAW 2 |
| #define THROTTLE 3 |
| #define LOG_STICK_SCALE 8 |
| #define LOG_P_SCALE 9 |
| #define LOG_I_SCALE 12 |
| #define LOG_D_SCALE 8 |
| #define NUM_CONTROL_SERVOS 4 |
| extern int16_t controlServos[NUM_CONTROL_SERVOS]; |
| /branches/dongfang_FC_fixedwing/flight.c |
|---|
| 264,10 → 264,5 |
| debugOut.analog[12] = term[PITCH]; |
| debugOut.analog[13] = term[ROLL]; |
| debugOut.analog[14] = term[YAW]; |
| //DebugOut.Analog[18] = (10 * controlIntegrals[CONTROL_ELEVATOR]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| //DebugOut.Analog[19] = (10 * controlIntegrals[CONTROL_AILERONS]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| //debugOut.analog[22] = (10 * IPart[PITCH]) / GYRO_DEG_FACTOR; // in 0.1 deg |
| //debugOut.analog[23] = (10 * IPart[ROLL]) / GYRO_DEG_FACTOR; // in 0.1 deg |
| } |
| } |
| /branches/dongfang_FC_fixedwing/timer0.c |
|---|
| 167,7 → 167,7 |
| if (stop) { |
| // Wait for new samples to get prepared but do not restart AD conversion after that! |
| // Caller MUST to that. |
| if (!analogDataReady) wdt_reset(); |
| while (!analogDataReady) wdt_reset(); |
| } |
| } |
| /branches/dongfang_FC_fixedwing/uart0.c |
|---|
| 106,14 → 106,14 |
| "RC R ", |
| "RC Y ", |
| "RC T ", |
| "Profile 0 ", |
| "Profile 1 ", //25 |
| "Profile 2 ", |
| "Profile 3 ", |
| "Profile total ", |
| " ", |
| "Var0 ", //30 |
| "Var1 " |
| "Gyro offs P ", |
| "Gyro offs R ", //25 |
| "Gyro offs Y ", |
| "Gyro ADC P ", |
| "Gyro ADC R ", |
| "Gyro ADC Y ", |
| " ", //30 |
| " " |
| }; |
| /****************************************************************/ |
| 667,10 → 667,6 |
| if (request_variables && txd_complete) { |
| sendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables)); |
| debugOut.analog[28] = channelMap.HWTrim; |
| debugOut.analog[29] = channelMap.variableOffset; |
| debugOut.analog[30] = variables[0]; |
| debugOut.analog[31] = variables[1]; |
| request_variables = FALSE; |
| } |