/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; |
} |