WebSVN - FlightCtrl - Diff - Rev 2109 and 2116 - /branches/dongfang_FC


#include <util/delay.h>
#include <stddef.h>
#include <string.h>
#include "configuration.h"
 
#include "rc.h"
#include "output.h"
#include "flight.h"
 
int16_t variables[VARIABLE_COUNT];
ParamSet_t staticParams;
ChannelMap_t channelMap;
IMUConfig_t IMUConfig;
volatile DynamicParams_t dynamicParams;
 
uint8_t CPUType;
uint8_t boardRelease;
uint8_t requiredMotors;
 
VersionInfo_t versionInfo;
 
FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;
volatile uint16_t isFlying= 0;
 
const MMXLATION XLATIONS[] = {
{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
 
{offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255},
{offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255},
{offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255},
 
{offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255},
{offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255},
{offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255},
 
{offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255},
{offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255},
{offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255},
 
{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},
{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255},
{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},
{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
};
 
uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
  uint8_t result;
  if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];
  else result = src;
  if (result < min) result = min;
  else if (result > max) result = max;
  return result;
}
 
void configuration_applyVariablesToParams(void) {
  uint8_t i, src;
  uint8_t* pointerToTgt;
 
  for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {
    src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx);
    pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;
    *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);
  }
 
  // User parameters are always variable.
  for (i=0; i<sizeof(staticParams.userParams); i++) {
    src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i);
    pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;
    *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
  }
}
 
void setCPUType(void) {   // works only after reset or power on when the registers have default values
  if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P;  // initial Values for 644P after reset
  else CPUType = ATMEGA644;
}
 
/*
 * Automatic detection of hardware components is not supported in this development-oriented
 * FC firmware. It would go against the point of it: To enable alternative hardware
 * configurations with otherwise unsupported components. Instead, one should write
 * custom code + adjust constants for the new hardware, and include the relevant code
 * from the makefile.
 * However - we still do detect the board release. Reason: Otherwise it would be too
 * tedious to have to modify the code for how to turn on and off LEDs when deploying
 * on different HW version....
 */
void setBoardRelease(void) {
  // the board release is coded via the pull up or down the 2 status LED
 
  PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate
  DDRB  &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input
 
  _delay_loop_2(1000); // make some delay
 
  switch( PINB & ((1<<PINB1)|(1<<PINB0))) {
    case 0x00:
      boardRelease = 10; // 1.0
      break;
    case 0x01:
      boardRelease = 11; // 1.1 or 1.2
      break;
    case 0x02:
      boardRelease = 20; // 2.0
      break;
    case 0x03:
      boardRelease = 13; // 1.3
      break;
    default:
      break;
    }
  // set LED ports as output
  DDRB |= (1<<DDB1)|(1<<DDB0);
  RED_OFF;
  GRN_OFF;
}
 
void configuration_setFlightParameters(uint8_t newFlightMode) {
        currentFlightMode = newFlightMode;
        flight_updateFlightParametersToFlightMode();
}
 
// Called after a change in configuration parameters, as a hook for modules to take over changes.
void configuration_paramSetDidChange(void) {
  // This should be OK to do here as long as we don't change parameters during emergency flight. We don't.
  configuration_setFlightParameters(currentFlightMode);
  // Immediately load changes to output, and also signal the paramset change.
  output_init();
}
 
void setOtherDefaults(void) {
  // Control
  staticParams.externalControl = 0;
  staticParams.IFactor = 52;
 
  staticParams.airspeedCorrection = 100;
  staticParams.isFlyingThreshold = 100;
 
  // Servos
  staticParams.servoCount = 7;
  staticParams.servoManualMaxSpeed = 10;
  for (uint8_t i=0; i<2; i++) {
    staticParams.servoConfigurations[i].manualControl = 128;
    staticParams.servoConfigurations[i].stabilizationFactor = 0;
    staticParams.servoConfigurations[i].minValue = 32;
    staticParams.servoConfigurations[i].maxValue = 224;
    staticParams.servoConfigurations[i].flags = 0;
  }
 
  // Battery warning and emergency flight
  staticParams.batteryVoltageWarning = 101;  // 3.7 each for 3S
  staticParams.emergencyThrottle = 35;
  staticParams.emergencyFlightDuration = 30;
 
  for (uint8_t i=0; i<3; i++) {
          staticParams.gyroPID[i].P = 80;
          staticParams.gyroPID[i].I = 80;
          staticParams.gyroPID[i].D = 40;
          staticParams.gyroPID[i].iMax = 45;
  }
 
  staticParams.stickIElevator = 80;
  staticParams.stickIAilerons = 120;
  staticParams.stickIRudder = 40;
 
  // Outputs
  staticParams.outputFlash[0].bitmask = 1; //0b01011111;
  staticParams.outputFlash[0].timing = 15;
  staticParams.outputFlash[1].bitmask = 3; //0b11110011;
  staticParams.outputFlash[1].timing = 15;
 
  staticParams.outputDebugMask = 8;
  staticParams.outputFlags   = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS;
}
 
/***************************************************/
/*    Default Values for parameter set 1           */
/***************************************************/
void paramSet_default(uint8_t setnumber) {
  setOtherDefaults();
 
  for (uint8_t i=0; i<8; i++) {
    staticParams.userParams[i] = i;
  }
 
  staticParams.bitConfig =
    CFG_GYRO_SATURATION_PREVENTION;
 
  memcpy(staticParams.name, "Default\0", 6);
}
 
void IMUConfig_default(void) {
  IMUConfig.gyroPIDFilterConstant = 1;
  IMUConfig.gyroDFilterConstant = 1;
  IMUConfig.rateTolerance = 120;
  IMUConfig.gyroDWindowLength = 3;
  IMUConfig.gyroQuadrant = 0;
  IMUConfig.imuReversedFlags = 0;
  gyro_setDefaultParameters();
}
 
/***************************************************/
/*    Default Values for R/C Channels              */
/***************************************************/
void channelMap_default(void) {
        channelMap.trim = 0;
  channelMap.channels[CH_ELEVATOR] = 1;
  channelMap.channels[CH_AILERONS] = 0;
  channelMap.channels[CH_THROTTLE] = 2;
  channelMap.channels[CH_RUDDER]   = 3;
  channelMap.channels[CH_POTS + 0] = 4;
  channelMap.channels[CH_POTS + 1] = 5;
  channelMap.channels[CH_POTS + 2] = 6;
  channelMap.channels[CH_POTS + 3] = 7;
}
 

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/configuration.c @ 2076 - Rev 2109 → 2116

Rev 2109		Rev 2116
1	#include <util/delay.h>	1	#include <util/delay.h>
2	#include <stddef.h>	2	#include <stddef.h>
3	#include <string.h>	3	#include <string.h>
4	#include "configuration.h"	4	#include "configuration.h"
5	#include "sensors.h"	-
6	#include "rc.h"	5	#include "rc.h"
7	#include "output.h"	6	#include "output.h"
8	#include "flight.h"	7	#include "flight.h"
9		8
10	int16_t variables[VARIABLE_COUNT];	9	int16_t variables[VARIABLE_COUNT];
11	ParamSet_t staticParams;	10	ParamSet_t staticParams;
12	channelMap_t channelMap;	11	ChannelMap_t channelMap;
13	IMUConfig_t IMUConfig;	12	IMUConfig_t IMUConfig;
14	volatile DynamicParams_t dynamicParams;	13	volatile DynamicParams_t dynamicParams;
15		14
16	uint8_t CPUType;	15	uint8_t CPUType;
17	uint8_t boardRelease;	16	uint8_t boardRelease;
18	uint8_t requiredMotors;	17	uint8_t requiredMotors;
19		18
20	VersionInfo_t versionInfo;	19	VersionInfo_t versionInfo;
21		20
22	FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;	21	FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;
23	volatile uint16_t isFlying= 0;	22	volatile uint16_t isFlying= 0;
24		23
25	const MMXLATION XLATIONS[] = {	24	const MMXLATION XLATIONS[] = {
26	{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},	25	{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
27		26
28	{offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255},	27	{offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255},
29	{offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255},	28	{offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255},
30	{offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255},	29	{offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255},
31		30
32	{offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255},	31	{offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255},
33	{offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255},	32	{offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255},
34	{offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255},	33	{offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255},
35		34
36	{offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255},	35	{offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255},
37	{offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255},	36	{offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255},
38	{offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255},	37	{offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255},
39		38
40	{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},	39	{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},
41	{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255},	40	{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255},
42	{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},	41	{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},
43	{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},	42	{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
44	};	43	};
45		44
46	uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {	45	uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
47	uint8_t result;	46	uint8_t result;
48	if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];	47	if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];
49	else result = src;	48	else result = src;
50	if (result < min) result = min;	49	if (result < min) result = min;
51	else if (result > max) result = max;	50	else if (result > max) result = max;
52	return result;	51	return result;
53	}	52	}
54		53
55	void configuration_applyVariablesToParams(void) {	54	void configuration_applyVariablesToParams(void) {
56	uint8_t i, src;	55	uint8_t i, src;
57	uint8_t* pointerToTgt;	56	uint8_t* pointerToTgt;
58		57
59	for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {	58	for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {
60	src = ((uint8_t)(&staticParams) + XLATIONS[i].sourceIdx);	59	src = ((uint8_t)(&staticParams) + XLATIONS[i].sourceIdx);
61	pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;	60	pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;
62	*pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);	61	*pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);
63	}	62	}
64		63
65	// User parameters are always variable.	64	// User parameters are always variable.
66	for (i=0; i<sizeof(staticParams.userParams); i++) {	65	for (i=0; i<sizeof(staticParams.userParams); i++) {
67	src = ((uint8_t)(&staticParams) + offsetof(ParamSet_t, userParams) + i);	66	src = ((uint8_t)(&staticParams) + offsetof(ParamSet_t, userParams) + i);
68	pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;	67	pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;
69	*pointerToTgt = configuration_applyVariableToParam(src, 0, 255);	68	*pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
70	}	69	}
71	}	70	}
72		71
73	void setCPUType(void) { // works only after reset or power on when the registers have default values	72	void setCPUType(void) { // works only after reset or power on when the registers have default values
74	if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset	73	if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset
75	else CPUType = ATMEGA644;	74	else CPUType = ATMEGA644;
76	}	75	}
77		76
78	/*	77	/*
79	* Automatic detection of hardware components is not supported in this development-oriented	78	* Automatic detection of hardware components is not supported in this development-oriented
80	* FC firmware. It would go against the point of it: To enable alternative hardware	79	* FC firmware. It would go against the point of it: To enable alternative hardware
81	* configurations with otherwise unsupported components. Instead, one should write	80	* configurations with otherwise unsupported components. Instead, one should write
82	* custom code + adjust constants for the new hardware, and include the relevant code	81	* custom code + adjust constants for the new hardware, and include the relevant code
83	* from the makefile.	82	* from the makefile.
84	* However - we still do detect the board release. Reason: Otherwise it would be too	83	* However - we still do detect the board release. Reason: Otherwise it would be too
85	* tedious to have to modify the code for how to turn on and off LEDs when deploying	84	* tedious to have to modify the code for how to turn on and off LEDs when deploying
86	* on different HW version....	85	* on different HW version....
87	*/	86	*/
88	void setBoardRelease(void) {	87	void setBoardRelease(void) {
89	// the board release is coded via the pull up or down the 2 status LED	88	// the board release is coded via the pull up or down the 2 status LED
90		89
91	PORTB &= ~((1 << PORTB1)\|(1 << PORTB0)); // set tristate	90	PORTB &= ~((1 << PORTB1)\|(1 << PORTB0)); // set tristate
92	DDRB &= ~((1 << DDB0)\|(1 << DDB0)); // set port direction as input	91	DDRB &= ~((1 << DDB0)\|(1 << DDB0)); // set port direction as input
93		92
94	_delay_loop_2(1000); // make some delay	93	_delay_loop_2(1000); // make some delay
95		94
96	switch( PINB & ((1<<PINB1)\|(1<<PINB0))) {	95	switch( PINB & ((1<<PINB1)\|(1<<PINB0))) {
97	case 0x00:	96	case 0x00:
98	boardRelease = 10; // 1.0	97	boardRelease = 10; // 1.0
99	break;	98	break;
100	case 0x01:	99	case 0x01:
101	boardRelease = 11; // 1.1 or 1.2	100	boardRelease = 11; // 1.1 or 1.2
102	break;	101	break;
103	case 0x02:	102	case 0x02:
104	boardRelease = 20; // 2.0	103	boardRelease = 20; // 2.0
105	break;	104	break;
106	case 0x03:	105	case 0x03:
107	boardRelease = 13; // 1.3	106	boardRelease = 13; // 1.3
108	break;	107	break;
109	default:	108	default:
110	break;	109	break;
111	}	110	}
112	// set LED ports as output	111	// set LED ports as output
113	DDRB \|= (1<<DDB1)\|(1<<DDB0);	112	DDRB \|= (1<<DDB1)\|(1<<DDB0);
114	RED_OFF;	113	RED_OFF;
115	GRN_OFF;	114	GRN_OFF;
116	}	115	}
117		116
118	void configuration_setFlightParameters(uint8_t newFlightMode) {	117	void configuration_setFlightParameters(uint8_t newFlightMode) {
119	currentFlightMode = newFlightMode;	118	currentFlightMode = newFlightMode;
120	flight_updateFlightParametersToFlightMode();	119	flight_updateFlightParametersToFlightMode();
121	}	120	}
122		121
123	// Called after a change in configuration parameters, as a hook for modules to take over changes.	122	// Called after a change in configuration parameters, as a hook for modules to take over changes.
124	void configuration_paramSetDidChange(void) {	123	void configuration_paramSetDidChange(void) {
125	// This should be OK to do here as long as we don't change parameters during emergency flight. We don't.	124	// This should be OK to do here as long as we don't change parameters during emergency flight. We don't.
126	configuration_setFlightParameters(currentFlightMode);	125	configuration_setFlightParameters(currentFlightMode);
127	// Immediately load changes to output, and also signal the paramset change.	126	// Immediately load changes to output, and also signal the paramset change.
128	output_init();	127	output_init();
129	}	128	}
130		129
131	void setOtherDefaults(void) {	130	void setOtherDefaults(void) {
132	// Control	131	// Control
133	staticParams.externalControl = 0;	132	staticParams.externalControl = 0;
134	staticParams.IFactor = 52;	133	staticParams.IFactor = 52;
135		134
136	staticParams.airspeedCorrection = 100;	135	staticParams.airspeedCorrection = 100;
137	staticParams.isFlyingThreshold = 100;	136	staticParams.isFlyingThreshold = 100;
138		137
139	// Servos	138	// Servos
140	staticParams.servoCount = 7;	139	staticParams.servoCount = 7;
141	staticParams.servoManualMaxSpeed = 10;	140	staticParams.servoManualMaxSpeed = 10;
142	for (uint8_t i=0; i<2; i++) {	141	for (uint8_t i=0; i<2; i++) {
143	staticParams.servoConfigurations[i].manualControl = 128;	142	staticParams.servoConfigurations[i].manualControl = 128;
144	staticParams.servoConfigurations[i].stabilizationFactor = 0;	143	staticParams.servoConfigurations[i].stabilizationFactor = 0;
145	staticParams.servoConfigurations[i].minValue = 32;	144	staticParams.servoConfigurations[i].minValue = 32;
146	staticParams.servoConfigurations[i].maxValue = 224;	145	staticParams.servoConfigurations[i].maxValue = 224;
147	staticParams.servoConfigurations[i].flags = 0;	146	staticParams.servoConfigurations[i].flags = 0;
148	}	147	}
149		148
150	// Battery warning and emergency flight	149	// Battery warning and emergency flight
151	staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S	150	staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S
152	staticParams.emergencyThrottle = 35;	151	staticParams.emergencyThrottle = 35;
153	staticParams.emergencyFlightDuration = 30;	152	staticParams.emergencyFlightDuration = 30;
154		153
155	for (uint8_t i=0; i<3; i++) {	154	for (uint8_t i=0; i<3; i++) {
156	staticParams.gyroPID[i].P = 80;	155	staticParams.gyroPID[i].P = 80;
157	staticParams.gyroPID[i].I = 80;	156	staticParams.gyroPID[i].I = 80;
158	staticParams.gyroPID[i].D = 40;	157	staticParams.gyroPID[i].D = 40;
159	staticParams.gyroPID[i].iMax = 45;	158	staticParams.gyroPID[i].iMax = 45;
160	}	159	}
161		160
162	staticParams.stickIElevator = 80;	161	staticParams.stickIElevator = 80;
163	staticParams.stickIAilerons = 120;	162	staticParams.stickIAilerons = 120;
164	staticParams.stickIRudder = 40;	163	staticParams.stickIRudder = 40;
165		164
166	// Outputs	165	// Outputs
167	staticParams.outputFlash[0].bitmask = 1; //0b01011111;	166	staticParams.outputFlash[0].bitmask = 1; //0b01011111;
168	staticParams.outputFlash[0].timing = 15;	167	staticParams.outputFlash[0].timing = 15;
169	staticParams.outputFlash[1].bitmask = 3; //0b11110011;	168	staticParams.outputFlash[1].bitmask = 3; //0b11110011;
170	staticParams.outputFlash[1].timing = 15;	169	staticParams.outputFlash[1].timing = 15;
171		170
172	staticParams.outputDebugMask = 8;	171	staticParams.outputDebugMask = 8;
173	staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP \| OUTPUTFLAGS_FLASH_1_AT_BEEP \| OUTPUTFLAGS_USE_ONBOARD_LEDS;	172	staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP \| OUTPUTFLAGS_FLASH_1_AT_BEEP \| OUTPUTFLAGS_USE_ONBOARD_LEDS;
174	}	173	}
175		174
176	/***************************************************/	175	/***************************************************/
177	/* Default Values for parameter set 1 */	176	/* Default Values for parameter set 1 */
178	/***************************************************/	177	/***************************************************/
179	void paramSet_default(uint8_t setnumber) {	178	void paramSet_default(uint8_t setnumber) {
180	setOtherDefaults();	179	setOtherDefaults();
181		180
182	for (uint8_t i=0; i<8; i++) {	181	for (uint8_t i=0; i<8; i++) {
183	staticParams.userParams[i] = i;	182	staticParams.userParams[i] = i;
184	}	183	}
185		184
186	staticParams.bitConfig =	185	staticParams.bitConfig =
187	CFG_GYRO_SATURATION_PREVENTION;	186	CFG_GYRO_SATURATION_PREVENTION;
188		187
189	memcpy(staticParams.name, "Default\0", 6);	188	memcpy(staticParams.name, "Default\0", 6);
190	}	189	}
191		190
192	void IMUConfig_default(void) {	191	void IMUConfig_default(void) {
193	IMUConfig.gyroPIDFilterConstant = 1;	192	IMUConfig.gyroPIDFilterConstant = 1;
194	IMUConfig.gyroDFilterConstant = 1;	193	IMUConfig.gyroDFilterConstant = 1;
195	IMUConfig.rateTolerance = 120;	194	IMUConfig.rateTolerance = 120;
196	IMUConfig.gyroDWindowLength = 3;	195	IMUConfig.gyroDWindowLength = 3;
197	IMUConfig.gyroQuadrant = 0;	196	IMUConfig.gyroQuadrant = 0;
198	IMUConfig.imuReversedFlags = 0;	197	IMUConfig.imuReversedFlags = 0;
199	gyro_setDefaultParameters();	198	gyro_setDefaultParameters();
200	}	199	}
201		200
202	/***************************************************/	201	/***************************************************/
203	/* Default Values for R/C Channels */	202	/* Default Values for R/C Channels */
204	/***************************************************/	203	/***************************************************/
205	void channelMap_default(void) {	204	void channelMap_default(void) {
-		205	channelMap.trim = 0;
206	channelMap.channels[CH_ELEVATOR] = 1;	206	channelMap.channels[CH_ELEVATOR] = 1;
207	channelMap.channels[CH_AILERONS] = 0;	207	channelMap.channels[CH_AILERONS] = 0;
208	channelMap.channels[CH_THROTTLE] = 2;	208	channelMap.channels[CH_THROTTLE] = 2;
209	channelMap.channels[CH_RUDDER] = 3;	209	channelMap.channels[CH_RUDDER] = 3;
210	channelMap.channels[CH_POTS + 0] = 4;	210	channelMap.channels[CH_POTS + 0] = 4;
211	channelMap.channels[CH_POTS + 1] = 5;	211	channelMap.channels[CH_POTS + 1] = 5;
212	channelMap.channels[CH_POTS + 2] = 6;	212	channelMap.channels[CH_POTS + 2] = 6;
213	channelMap.channels[CH_POTS + 3] = 7;	213	channelMap.channels[CH_POTS + 3] = 7;
214	}	214	}
215		215