| 85,22 → 85,27 |
|---|
| staticParams.IFactor = 52; |
| |
| staticParams.airspeedCorrection = 1; |
| staticParams.isFlyingThreshold = 100; |
| staticParams.isFlyingThreshold = 10; |
| |
| // Servos |
| staticParams.servoCount = 7; |
| staticParams.servoCount = 6; |
| staticParams.servos[CONTROL_ELEVATOR].reverse = 0; |
| staticParams.servos[CONTROL_AILERONS].reverse = 1; |
| staticParams.servos[CONTROL_AILERONS].reverse = 0; // 1 for extra. |
| staticParams.servos[CONTROL_RUDDER].reverse = 0; |
| |
| for (uint8_t i=0; i<4; i++) { |
| staticParams.servos[i].minValue = 80; |
| staticParams.servos[i].maxValue = 80; |
| } |
| |
| // Battery warning and emergency flight |
| staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
| |
| for (uint8_t i=0; i<3; i++) { |
| staticParams.gyroPID[i].P = 40; |
| staticParams.gyroPID[i].I = 40; |
| staticParams.gyroPID[i].D = 40; |
| staticParams.gyroPID[i].iMax = 60; |
| staticParams.gyroPID[i].I = 20; |
| staticParams.gyroPID[i].D = 20; |
| staticParams.gyroPID[i].iMax = 30; // 60 for extra. |
| } |
| |
| staticParams.stickIElevator = 40; |
| 113,7 → 118,7 |
|---|
| staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
| staticParams.outputFlash[1].timing = 15; |
| |
| staticParams.outputDebugMask = 8; |
| staticParams.outputDebugMask = 0; |
| staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
| } |
| |
| 139,7 → 144,7 |
|---|
| IMUConfig.rateTolerance = 120; |
| IMUConfig.gyroDWindowLength = 8; |
| IMUConfig.gyroQuadrant = 4; |
| IMUConfig.imuReversedFlags = IMU_REVERSE_GYRO_PR; |
| IMUConfig.imuReversedFlags = 0; |
| } |
| |
| /***************************************************/ |