WebSVN - FlightCtrl - Diff - Rev 2119 and 2122 - /branches/dongfang_FC


#include <util/delay.h>
#include <stddef.h>
#include <string.h>
#include "configuration.h"
#include "rc.h"
#include "output.h"
#include "sensors.h"
#include "flight.h"
 
int16_t variables[VARIABLE_COUNT];
ParamSet_t staticParams;
ChannelMap_t channelMap;
RCTrim_t rcTrim;
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, gimbalServoConfigurations[0].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[0]),0,255},
{offsetof(ParamSet_t, gimbalServoConfigurations[1].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[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.servosReverse = CONTROL_SERVO_REVERSE_ELEVATOR | CONTROL_SERVO_REVERSE_RUDDER;
 
  staticParams.gimbalServoMaxManualSpeed = 10;
  for (uint8_t i=0; i<2; i++) {
    staticParams.gimbalServoConfigurations[i].manualControl = 128;
    staticParams.gimbalServoConfigurations[i].stabilizationFactor = 0;
    staticParams.gimbalServoConfigurations[i].minValue = 32;
    staticParams.gimbalServoConfigurations[i].maxValue = 224;
    staticParams.gimbalServoConfigurations[i].flags = 0;
  }
 
  // 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 = 200;
          staticParams.gyroPID[i].I = 80;
          staticParams.gyroPID[i].D = 40;
          staticParams.gyroPID[i].iMax = 30;
  }
 
  staticParams.stickIElevator = 60;
  staticParams.stickIAilerons = 80;
  staticParams.stickIRudder = 25;
 
  // 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 = 2;
  IMUConfig.imuReversedFlags = 0;
  gyro_setDefaultParameters();
}
 
/***************************************************/
/*    Default Values for R/C Channels              */
/***************************************************/
void channelMap_default(void) {
  channelMap.RCPolarity = 1;
  channelMap.HWTrim = 192;
  channelMap.variableOffset = 128;
  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 @ 2219 - Rev 2119 → 2122

Rev 2119		Rev 2122
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 "rc.h"	5	#include "rc.h"
6	#include "output.h"	6	#include "output.h"
7	#include "sensors.h"	7	#include "sensors.h"
8	#include "flight.h"	8	#include "flight.h"
9		9
10	int16_t variables[VARIABLE_COUNT];	10	int16_t variables[VARIABLE_COUNT];
11	ParamSet_t staticParams;	11	ParamSet_t staticParams;
12	ChannelMap_t channelMap;	12	ChannelMap_t channelMap;
-		13	RCTrim_t rcTrim;
13	IMUConfig_t IMUConfig;	14	IMUConfig_t IMUConfig;
14	volatile DynamicParams_t dynamicParams;	15	volatile DynamicParams_t dynamicParams;
15		16
16	uint8_t CPUType;	17	uint8_t CPUType;
17	uint8_t boardRelease;	18	uint8_t boardRelease;
18	uint8_t requiredMotors;	19	uint8_t requiredMotors;
19		20
20	VersionInfo_t versionInfo;	21	VersionInfo_t versionInfo;
21		22
22	FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;	23	FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;
23	volatile uint16_t isFlying= 0;	24	volatile uint16_t isFlying= 0;
24		25
25	const MMXLATION XLATIONS[] = {	26	const MMXLATION XLATIONS[] = {
26	{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},	27	{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
27		28
28	{offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255},	29	{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},	30	{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},	31	{offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255},
31		32
32	{offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255},	33	{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},	34	{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},	35	{offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255},
35		36
36	{offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255},	37	{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},	38	{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},	39	{offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255},
39		40
40	{offsetof(ParamSet_t, gimbalServoConfigurations[0].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[0]),0,255},	41	{offsetof(ParamSet_t, gimbalServoConfigurations[0].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[0]),0,255},
41	{offsetof(ParamSet_t, gimbalServoConfigurations[1].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[1]),0,255},	42	{offsetof(ParamSet_t, gimbalServoConfigurations[1].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[1]),0,255},
42	{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},	43	{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},	44	{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
44	};	45	};
45		46
46	uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {	47	uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
47	uint8_t result;	48	uint8_t result;
48	if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];	49	if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];
49	else result = src;	50	else result = src;
50	if (result < min) result = min;	51	if (result < min) result = min;
51	else if (result > max) result = max;	52	else if (result > max) result = max;
52	return result;	53	return result;
53	}	54	}
54		55
55	void configuration_applyVariablesToParams(void) {	56	void configuration_applyVariablesToParams(void) {
56	uint8_t i, src;	57	uint8_t i, src;
57	uint8_t* pointerToTgt;	58	uint8_t* pointerToTgt;
58		59
59	for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {	60	for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {
60	src = ((uint8_t)(&staticParams) + XLATIONS[i].sourceIdx);	61	src = ((uint8_t)(&staticParams) + XLATIONS[i].sourceIdx);
61	pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;	62	pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;
62	*pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);	63	*pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);
63	}	64	}
64		65
65	// User parameters are always variable.	66	// User parameters are always variable.
66	for (i=0; i<sizeof(staticParams.userParams); i++) {	67	for (i=0; i<sizeof(staticParams.userParams); i++) {
67	src = ((uint8_t)(&staticParams) + offsetof(ParamSet_t, userParams) + i);	68	src = ((uint8_t)(&staticParams) + offsetof(ParamSet_t, userParams) + i);
68	pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;	69	pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;
69	*pointerToTgt = configuration_applyVariableToParam(src, 0, 255);	70	*pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
70	}	71	}
71	}	72	}
72		73
73	void setCPUType(void) { // works only after reset or power on when the registers have default values	74	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	75	if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset
75	else CPUType = ATMEGA644;	76	else CPUType = ATMEGA644;
76	}	77	}
77		78
78	/*	79	/*
79	* Automatic detection of hardware components is not supported in this development-oriented	80	* 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	81	* FC firmware. It would go against the point of it: To enable alternative hardware
81	* configurations with otherwise unsupported components. Instead, one should write	82	* configurations with otherwise unsupported components. Instead, one should write
82	* custom code + adjust constants for the new hardware, and include the relevant code	83	* custom code + adjust constants for the new hardware, and include the relevant code
83	* from the makefile.	84	* from the makefile.
84	* However - we still do detect the board release. Reason: Otherwise it would be too	85	* 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	86	* tedious to have to modify the code for how to turn on and off LEDs when deploying
86	* on different HW version....	87	* on different HW version....
87	*/	88	*/
88	void setBoardRelease(void) {	89	void setBoardRelease(void) {
89	// the board release is coded via the pull up or down the 2 status LED	90	// the board release is coded via the pull up or down the 2 status LED
90		91
91	PORTB &= ~((1 << PORTB1)\|(1 << PORTB0)); // set tristate	92	PORTB &= ~((1 << PORTB1)\|(1 << PORTB0)); // set tristate
92	DDRB &= ~((1 << DDB0)\|(1 << DDB0)); // set port direction as input	93	DDRB &= ~((1 << DDB0)\|(1 << DDB0)); // set port direction as input
93		94
94	_delay_loop_2(1000); // make some delay	95	_delay_loop_2(1000); // make some delay
95		96
96	switch( PINB & ((1<<PINB1)\|(1<<PINB0))) {	97	switch( PINB & ((1<<PINB1)\|(1<<PINB0))) {
97	case 0x00:	98	case 0x00:
98	boardRelease = 10; // 1.0	99	boardRelease = 10; // 1.0
99	break;	100	break;
100	case 0x01:	101	case 0x01:
101	boardRelease = 11; // 1.1 or 1.2	102	boardRelease = 11; // 1.1 or 1.2
102	break;	103	break;
103	case 0x02:	104	case 0x02:
104	boardRelease = 20; // 2.0	105	boardRelease = 20; // 2.0
105	break;	106	break;
106	case 0x03:	107	case 0x03:
107	boardRelease = 13; // 1.3	108	boardRelease = 13; // 1.3
108	break;	109	break;
109	default:	110	default:
110	break;	111	break;
111	}	112	}
112	// set LED ports as output	113	// set LED ports as output
113	DDRB \|= (1<<DDB1)\|(1<<DDB0);	114	DDRB \|= (1<<DDB1)\|(1<<DDB0);
114	RED_OFF;	115	RED_OFF;
115	GRN_OFF;	116	GRN_OFF;
116	}	117	}
117		118
118	void configuration_setFlightParameters(uint8_t newFlightMode) {	119	void configuration_setFlightParameters(uint8_t newFlightMode) {
119	currentFlightMode = newFlightMode;	120	currentFlightMode = newFlightMode;
120	flight_updateFlightParametersToFlightMode();	121	flight_updateFlightParametersToFlightMode();
121	}	122	}
122		123
123	// Called after a change in configuration parameters, as a hook for modules to take over changes.	124	// Called after a change in configuration parameters, as a hook for modules to take over changes.
124	void configuration_paramSetDidChange(void) {	125	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.	126	// 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);	127	configuration_setFlightParameters(currentFlightMode);
127	// Immediately load changes to output, and also signal the paramset change.	128	// Immediately load changes to output, and also signal the paramset change.
128	output_init();	129	output_init();
129	}	130	}
130		131
131	void setOtherDefaults(void) {	132	void setOtherDefaults(void) {
132	// Control	133	// Control
133	staticParams.externalControl = 0;	134	staticParams.externalControl = 0;
134	staticParams.IFactor = 52;	135	staticParams.IFactor = 52;
135		136
136	staticParams.airspeedCorrection = 100;	137	staticParams.airspeedCorrection = 100;
137	staticParams.isFlyingThreshold = 100;	138	staticParams.isFlyingThreshold = 100;
138		139
139	// Servos	140	// Servos
140	staticParams.servoCount = 7;	141	staticParams.servoCount = 7;
141	staticParams.servosReverse = CONTROL_SERVO_REVERSE_ELEVATOR \| CONTROL_SERVO_REVERSE_RUDDER;	142	staticParams.servosReverse = CONTROL_SERVO_REVERSE_ELEVATOR \| CONTROL_SERVO_REVERSE_RUDDER;
142		143
143	staticParams.gimbalServoMaxManualSpeed = 10;	144	staticParams.gimbalServoMaxManualSpeed = 10;
144	for (uint8_t i=0; i<2; i++) {	145	for (uint8_t i=0; i<2; i++) {
145	staticParams.gimbalServoConfigurations[i].manualControl = 128;	146	staticParams.gimbalServoConfigurations[i].manualControl = 128;
146	staticParams.gimbalServoConfigurations[i].stabilizationFactor = 0;	147	staticParams.gimbalServoConfigurations[i].stabilizationFactor = 0;
147	staticParams.gimbalServoConfigurations[i].minValue = 32;	148	staticParams.gimbalServoConfigurations[i].minValue = 32;
148	staticParams.gimbalServoConfigurations[i].maxValue = 224;	149	staticParams.gimbalServoConfigurations[i].maxValue = 224;
149	staticParams.gimbalServoConfigurations[i].flags = 0;	150	staticParams.gimbalServoConfigurations[i].flags = 0;
150	}	151	}
151		152
152	// Battery warning and emergency flight	153	// Battery warning and emergency flight
153	staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S	154	staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S
154		155
155	for (uint8_t i=0; i<3; i++) {	156	for (uint8_t i=0; i<3; i++) {
156	staticParams.gyroPID[i].P = 80;	157	staticParams.gyroPID[i].P = 200;
157	staticParams.gyroPID[i].I = 80;	158	staticParams.gyroPID[i].I = 80;
158	staticParams.gyroPID[i].D = 40;	159	staticParams.gyroPID[i].D = 40;
159	staticParams.gyroPID[i].iMax = 30;	160	staticParams.gyroPID[i].iMax = 30;
160	}	161	}
161		162
162	staticParams.stickIElevator = 60;	163	staticParams.stickIElevator = 60;
163	staticParams.stickIAilerons = 80;	164	staticParams.stickIAilerons = 80;
164	staticParams.stickIRudder = 25;	165	staticParams.stickIRudder = 25;
165		166
166	// Outputs	167	// Outputs
167	staticParams.outputFlash[0].bitmask = 1; //0b01011111;	168	staticParams.outputFlash[0].bitmask = 1; //0b01011111;
168	staticParams.outputFlash[0].timing = 15;	169	staticParams.outputFlash[0].timing = 15;
169	staticParams.outputFlash[1].bitmask = 3; //0b11110011;	170	staticParams.outputFlash[1].bitmask = 3; //0b11110011;
170	staticParams.outputFlash[1].timing = 15;	171	staticParams.outputFlash[1].timing = 15;
171		172
172	staticParams.outputDebugMask = 8;	173	staticParams.outputDebugMask = 8;
173	staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP \| OUTPUTFLAGS_FLASH_1_AT_BEEP \| OUTPUTFLAGS_USE_ONBOARD_LEDS;	174	staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP \| OUTPUTFLAGS_FLASH_1_AT_BEEP \| OUTPUTFLAGS_USE_ONBOARD_LEDS;
174	}	175	}
175		176
176	/***************************************************/	177	/***************************************************/
177	/* Default Values for parameter set 1 */	178	/* Default Values for parameter set 1 */
178	/***************************************************/	179	/***************************************************/
179	void paramSet_default(uint8_t setnumber) {	180	void paramSet_default(uint8_t setnumber) {
180	setOtherDefaults();	181	setOtherDefaults();
181		182
182	for (uint8_t i=0; i<8; i++) {	183	for (uint8_t i=0; i<8; i++) {
183	staticParams.userParams[i] = i;	184	staticParams.userParams[i] = i;
184	}	185	}
185		186
186	staticParams.bitConfig =	187	staticParams.bitConfig =
187	CFG_GYRO_SATURATION_PREVENTION;	188	CFG_GYRO_SATURATION_PREVENTION;
188		189
189	memcpy(staticParams.name, "Default\0", 6);	190	memcpy(staticParams.name, "Default\0", 6);
190	}	191	}
191		192
192	void IMUConfig_default(void) {	193	void IMUConfig_default(void) {
193	IMUConfig.gyroPIDFilterConstant = 1;	194	IMUConfig.gyroPIDFilterConstant = 1;
194	IMUConfig.gyroDFilterConstant = 1;	195	IMUConfig.gyroDFilterConstant = 1;
195	IMUConfig.rateTolerance = 120;	196	IMUConfig.rateTolerance = 120;
196	IMUConfig.gyroDWindowLength = 3;	197	IMUConfig.gyroDWindowLength = 3;
197	IMUConfig.gyroQuadrant = 2;	198	IMUConfig.gyroQuadrant = 2;
198	IMUConfig.imuReversedFlags = 0;	199	IMUConfig.imuReversedFlags = 0;
199	gyro_setDefaultParameters();	200	gyro_setDefaultParameters();
200	}	201	}
201		202
202	/***************************************************/	203	/***************************************************/
203	/* Default Values for R/C Channels */	204	/* Default Values for R/C Channels */
204	/***************************************************/	205	/***************************************************/
205	void channelMap_default(void) {	206	void channelMap_default(void) {
206	channelMap.RCPolarity = 1;	207	channelMap.RCPolarity = 1;
207	channelMap.trim = 192;	208	channelMap.HWTrim = 192;
208	channelMap.variableOffset = 128;	209	channelMap.variableOffset = 128;
209	channelMap.channels[CH_ELEVATOR] = 1;	210	channelMap.channels[CH_ELEVATOR] = 1;
210	channelMap.channels[CH_AILERONS] = 0;	211	channelMap.channels[CH_AILERONS] = 0;
211	channelMap.channels[CH_THROTTLE] = 2;	212	channelMap.channels[CH_THROTTLE] = 2;
212	channelMap.channels[CH_RUDDER] = 3;	213	channelMap.channels[CH_RUDDER] = 3;
213	channelMap.channels[CH_POTS + 0] = 4;	214	channelMap.channels[CH_POTS + 0] = 4;
214	channelMap.channels[CH_POTS + 1] = 5;	215	channelMap.channels[CH_POTS + 1] = 5;
215	channelMap.channels[CH_POTS + 2] = 6;	216	channelMap.channels[CH_POTS + 2] = 6;
216	channelMap.channels[CH_POTS + 3] = 7;	217	channelMap.channels[CH_POTS + 3] = 7;
217	}	218	}
218		219