WebSVN - FlightCtrl - Diff - Rev 2126 and 2129 - /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;
// updated by considering airspeed..
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 = 80;
          staticParams.gyroPID[i].I = 40;
          staticParams.gyroPID[i].D = 40;
          staticParams.gyroPID[i].iMax = 45;
  }
 
  staticParams.stickIElevator = 40;
  staticParams.stickIAilerons = 60;
  staticParams.stickIRudder = 20;
 
  // 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 = 0;
  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;
  IMUConfig.gyroCalibrationTweak[0] =
  IMUConfig.gyroCalibrationTweak[1] =
  IMUConfig.gyroCalibrationTweak[2] = 0;
  gyro_setDefaultParameters();
}
 
/***************************************************/
/*    Default Values for R/C Channels              */
/***************************************************/
void channelMap_default(void) {
 
 
 
   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 - Rev 2126 → 2129

Rev 2126		Rev 2129
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	RCTrim_t rcTrim;
14	IMUConfig_t IMUConfig;	14	IMUConfig_t IMUConfig;
15	volatile DynamicParams_t dynamicParams;	15	volatile DynamicParams_t dynamicParams;
16		16
17	uint8_t CPUType;	17	uint8_t CPUType;
18	uint8_t boardRelease;	18	uint8_t boardRelease;
19	uint8_t requiredMotors;	19	uint8_t requiredMotors;
20		20
21	VersionInfo_t versionInfo;	21	VersionInfo_t versionInfo;
22		22
23	FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;	23	FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;
-		24	// updated by considering airspeed..
24	volatile uint16_t isFlying= 0;	25	volatile uint16_t isFlying= 0;
25		26
26	const MMXLATION XLATIONS[] = {	27	const MMXLATION XLATIONS[] = {
27	{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},	28	{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
28		29
29	{offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255},	30	{offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255},
30	{offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255},	31	{offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255},
31	{offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255},	32	{offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255},
32		33
33	{offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255},	34	{offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255},
34	{offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255},	35	{offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255},
35	{offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255},	36	{offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255},
36		37
37	{offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255},	38	{offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255},
38	{offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255},	39	{offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255},
39	{offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255},	40	{offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255},
40		41
41	{offsetof(ParamSet_t, gimbalServoConfigurations[0].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[0]),0,255},	42	{offsetof(ParamSet_t, gimbalServoConfigurations[0].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[0]),0,255},
42	{offsetof(ParamSet_t, gimbalServoConfigurations[1].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[1]),0,255},	43	{offsetof(ParamSet_t, gimbalServoConfigurations[1].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[1]),0,255},
43	{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},	44	{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},
44	{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},	45	{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
45	};	46	};
46		47
47	uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {	48	uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
48	uint8_t result;	49	uint8_t result;
49	if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];	50	if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];
50	else result = src;	51	else result = src;
51	if (result < min) result = min;	52	if (result < min) result = min;
52	else if (result > max) result = max;	53	else if (result > max) result = max;
53	return result;	54	return result;
54	}	55	}
55		56
56	void configuration_applyVariablesToParams(void) {	57	void configuration_applyVariablesToParams(void) {
57	uint8_t i, src;	58	uint8_t i, src;
58	uint8_t* pointerToTgt;	59	uint8_t* pointerToTgt;
59		60
60	for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {	61	for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {
61	src = ((uint8_t)(&staticParams) + XLATIONS[i].sourceIdx);	62	src = ((uint8_t)(&staticParams) + XLATIONS[i].sourceIdx);
62	pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;	63	pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;
63	*pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);	64	*pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);
64	}	65	}
65		66
66	// User parameters are always variable.	67	// User parameters are always variable.
67	for (i=0; i<sizeof(staticParams.userParams); i++) {	68	for (i=0; i<sizeof(staticParams.userParams); i++) {
68	src = ((uint8_t)(&staticParams) + offsetof(ParamSet_t, userParams) + i);	69	src = ((uint8_t)(&staticParams) + offsetof(ParamSet_t, userParams) + i);
69	pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;	70	pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;
70	*pointerToTgt = configuration_applyVariableToParam(src, 0, 255);	71	*pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
71	}	72	}
72	}	73	}
73		74
74	void setCPUType(void) { // works only after reset or power on when the registers have default values	75	void setCPUType(void) { // works only after reset or power on when the registers have default values
75	if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset	76	if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset
76	else CPUType = ATMEGA644;	77	else CPUType = ATMEGA644;
77	}	78	}
78		79
79	/*	80	/*
80	* Automatic detection of hardware components is not supported in this development-oriented	81	* Automatic detection of hardware components is not supported in this development-oriented
81	* FC firmware. It would go against the point of it: To enable alternative hardware	82	* FC firmware. It would go against the point of it: To enable alternative hardware
82	* configurations with otherwise unsupported components. Instead, one should write	83	* configurations with otherwise unsupported components. Instead, one should write
83	* custom code + adjust constants for the new hardware, and include the relevant code	84	* custom code + adjust constants for the new hardware, and include the relevant code
84	* from the makefile.	85	* from the makefile.
85	* However - we still do detect the board release. Reason: Otherwise it would be too	86	* However - we still do detect the board release. Reason: Otherwise it would be too
86	* tedious to have to modify the code for how to turn on and off LEDs when deploying	87	* tedious to have to modify the code for how to turn on and off LEDs when deploying
87	* on different HW version....	88	* on different HW version....
88	*/	89	*/
89	void setBoardRelease(void) {	90	void setBoardRelease(void) {
90	// the board release is coded via the pull up or down the 2 status LED	91	// the board release is coded via the pull up or down the 2 status LED
91		92
92	PORTB &= ~((1 << PORTB1)\|(1 << PORTB0)); // set tristate	93	PORTB &= ~((1 << PORTB1)\|(1 << PORTB0)); // set tristate
93	DDRB &= ~((1 << DDB0)\|(1 << DDB0)); // set port direction as input	94	DDRB &= ~((1 << DDB0)\|(1 << DDB0)); // set port direction as input
94		95
95	_delay_loop_2(1000); // make some delay	96	_delay_loop_2(1000); // make some delay
96		97
97	switch( PINB & ((1<<PINB1)\|(1<<PINB0))) {	98	switch( PINB & ((1<<PINB1)\|(1<<PINB0))) {
98	case 0x00:	99	case 0x00:
99	boardRelease = 10; // 1.0	100	boardRelease = 10; // 1.0
100	break;	101	break;
101	case 0x01:	102	case 0x01:
102	boardRelease = 11; // 1.1 or 1.2	103	boardRelease = 11; // 1.1 or 1.2
103	break;	104	break;
104	case 0x02:	105	case 0x02:
105	boardRelease = 20; // 2.0	106	boardRelease = 20; // 2.0
106	break;	107	break;
107	case 0x03:	108	case 0x03:
108	boardRelease = 13; // 1.3	109	boardRelease = 13; // 1.3
109	break;	110	break;
110	default:	111	default:
111	break;	112	break;
112	}	113	}
113	// set LED ports as output	114	// set LED ports as output
114	DDRB \|= (1<<DDB1)\|(1<<DDB0);	115	DDRB \|= (1<<DDB1)\|(1<<DDB0);
115	RED_OFF;	116	RED_OFF;
116	GRN_OFF;	117	GRN_OFF;
117	}	118	}
118		119
119	void configuration_setFlightParameters(uint8_t newFlightMode) {	120	void configuration_setFlightParameters(uint8_t newFlightMode) {
120	currentFlightMode = newFlightMode;	121	currentFlightMode = newFlightMode;
121	flight_updateFlightParametersToFlightMode();	122	flight_updateFlightParametersToFlightMode();
122	}	123	}
123		124
124	// Called after a change in configuration parameters, as a hook for modules to take over changes.	125	// Called after a change in configuration parameters, as a hook for modules to take over changes.
125	void configuration_paramSetDidChange(void) {	126	void configuration_paramSetDidChange(void) {
126	// This should be OK to do here as long as we don't change parameters during emergency flight. We don't.	127	// This should be OK to do here as long as we don't change parameters during emergency flight. We don't.
127	configuration_setFlightParameters(currentFlightMode);	128	configuration_setFlightParameters(currentFlightMode);
128	// Immediately load changes to output, and also signal the paramset change.	129	// Immediately load changes to output, and also signal the paramset change.
129	output_init();	130	output_init();
130	}	131	}
131		132
132	void setOtherDefaults(void) {	133	void setOtherDefaults(void) {
133	// Control	134	// Control
134	staticParams.externalControl = 0;	135	staticParams.externalControl = 0;
135	staticParams.IFactor = 52;	136	staticParams.IFactor = 52;
136		137
137	staticParams.airspeedCorrection = 100;	138	staticParams.airspeedCorrection = 100;
138	staticParams.isFlyingThreshold = 100;	139	staticParams.isFlyingThreshold = 100;
139		140
140	// Servos	141	// Servos
141	staticParams.servoCount = 7;	142	staticParams.servoCount = 7;
142	staticParams.servosReverse = CONTROL_SERVO_REVERSE_ELEVATOR \| CONTROL_SERVO_REVERSE_RUDDER;	143	staticParams.servosReverse = CONTROL_SERVO_REVERSE_ELEVATOR \| CONTROL_SERVO_REVERSE_RUDDER;
143		144
144	staticParams.gimbalServoMaxManualSpeed = 10;	145	staticParams.gimbalServoMaxManualSpeed = 10;
145	for (uint8_t i=0; i<2; i++) {	146	for (uint8_t i=0; i<2; i++) {
146	staticParams.gimbalServoConfigurations[i].manualControl = 128;	147	staticParams.gimbalServoConfigurations[i].manualControl = 128;
147	staticParams.gimbalServoConfigurations[i].stabilizationFactor = 0;	148	staticParams.gimbalServoConfigurations[i].stabilizationFactor = 0;
148	staticParams.gimbalServoConfigurations[i].minValue = 32;	149	staticParams.gimbalServoConfigurations[i].minValue = 32;
149	staticParams.gimbalServoConfigurations[i].maxValue = 224;	150	staticParams.gimbalServoConfigurations[i].maxValue = 224;
150	staticParams.gimbalServoConfigurations[i].flags = 0;	151	staticParams.gimbalServoConfigurations[i].flags = 0;
151	}	152	}
152		153
153	// Battery warning and emergency flight	154	// Battery warning and emergency flight
154	staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S	155	staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S
155		156
156	for (uint8_t i=0; i<3; i++) {	157	for (uint8_t i=0; i<3; i++) {
157	staticParams.gyroPID[i].P = 200;	158	staticParams.gyroPID[i].P = 80;
158	staticParams.gyroPID[i].I = 40;	159	staticParams.gyroPID[i].I = 40;
159	staticParams.gyroPID[i].D = 40;	160	staticParams.gyroPID[i].D = 40;
160	staticParams.gyroPID[i].iMax = 45;	161	staticParams.gyroPID[i].iMax = 45;
161	}	162	}
162		163
163	staticParams.stickIElevator = 40;	164	staticParams.stickIElevator = 40;
164	staticParams.stickIAilerons = 60;	165	staticParams.stickIAilerons = 60;
165	staticParams.stickIRudder = 20;	166	staticParams.stickIRudder = 20;
166		167
167	// Outputs	168	// Outputs
168	staticParams.outputFlash[0].bitmask = 1; //0b01011111;	169	staticParams.outputFlash[0].bitmask = 1; //0b01011111;
169	staticParams.outputFlash[0].timing = 15;	170	staticParams.outputFlash[0].timing = 15;
170	staticParams.outputFlash[1].bitmask = 3; //0b11110011;	171	staticParams.outputFlash[1].bitmask = 3; //0b11110011;
171	staticParams.outputFlash[1].timing = 15;	172	staticParams.outputFlash[1].timing = 15;
172		173
173	staticParams.outputDebugMask = 0;	174	staticParams.outputDebugMask = 0;
174	staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP \| OUTPUTFLAGS_FLASH_1_AT_BEEP \| OUTPUTFLAGS_USE_ONBOARD_LEDS;	175	staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP \| OUTPUTFLAGS_FLASH_1_AT_BEEP \| OUTPUTFLAGS_USE_ONBOARD_LEDS;
175	}	176	}
176		177
177	/***************************************************/	178	/***************************************************/
178	/* Default Values for parameter set 1 */	179	/* Default Values for parameter set 1 */
179	/***************************************************/	180	/***************************************************/
180	void paramSet_default(uint8_t setnumber) {	181	void paramSet_default(uint8_t setnumber) {
181	setOtherDefaults();	182	setOtherDefaults();
182		183
183	for (uint8_t i=0; i<8; i++) {	184	for (uint8_t i=0; i<8; i++) {
184	staticParams.userParams[i] = i;	185	staticParams.userParams[i] = i;
185	}	186	}
186		187
187	staticParams.bitConfig =	188	staticParams.bitConfig =
188	CFG_GYRO_SATURATION_PREVENTION;	189	CFG_GYRO_SATURATION_PREVENTION;
189		190
190	memcpy(staticParams.name, "Default\0", 6);	191	memcpy(staticParams.name, "Default\0", 6);
191	}	192	}
192		193
193	void IMUConfig_default(void) {	194	void IMUConfig_default(void) {
194	IMUConfig.gyroPIDFilterConstant = 1;	195	IMUConfig.gyroPIDFilterConstant = 1;
195	IMUConfig.gyroDFilterConstant = 1;	196	IMUConfig.gyroDFilterConstant = 1;
196	IMUConfig.rateTolerance = 120;	197	IMUConfig.rateTolerance = 120;
197	IMUConfig.gyroDWindowLength = 3;	198	IMUConfig.gyroDWindowLength = 3;
198	IMUConfig.gyroQuadrant = 2;	199	IMUConfig.gyroQuadrant = 2;
199	IMUConfig.imuReversedFlags = 0;	200	IMUConfig.imuReversedFlags = 0;
200	IMUConfig.gyroCalibrationTweak[0] =	201	IMUConfig.gyroCalibrationTweak[0] =
201	IMUConfig.gyroCalibrationTweak[1] =	202	IMUConfig.gyroCalibrationTweak[1] =
202	IMUConfig.gyroCalibrationTweak[2] = 0;	203	IMUConfig.gyroCalibrationTweak[2] = 0;
203	gyro_setDefaultParameters();	204	gyro_setDefaultParameters();
204	}	205	}
205		206
206	/***************************************************/	207	/***************************************************/
207	/* Default Values for R/C Channels */	208	/* Default Values for R/C Channels */
208	/***************************************************/	209	/***************************************************/
209	void channelMap_default(void) {	210	void channelMap_default(void) {
210	channelMap.RCPolarity = 1;	-
211	channelMap.HWTrim = 192;	-
212	channelMap.variableOffset = 128;	-
213	channelMap.channels[CH_ELEVATOR] = 1;	211	channelMap.channels[CH_ELEVATOR] = 1;
214	channelMap.channels[CH_AILERONS] = 0;	212	channelMap.channels[CH_AILERONS] = 0;
215	channelMap.channels[CH_THROTTLE] = 2;	213	channelMap.channels[CH_THROTTLE] = 2;
216	channelMap.channels[CH_RUDDER] = 3;	214	channelMap.channels[CH_RUDDER] = 3;
217	channelMap.channels[CH_POTS + 0] = 4;	215	channelMap.channels[CH_POTS + 0] = 4;
218	channelMap.channels[CH_POTS + 1] = 5;	216	channelMap.channels[CH_POTS + 1] = 5;
219	channelMap.channels[CH_POTS + 2] = 6;	217	channelMap.channels[CH_POTS + 2] = 6;
220	channelMap.channels[CH_POTS + 3] = 7;	218	channelMap.channels[CH_POTS + 3] = 7;
221	}	219	}
222		220