WebSVN - FlightCtrl - Diff - Rev 2132 and 2140 - /branches/dongfang_FC


#ifndef _CONFIGURATION_H
#define _CONFIGURATION_H
 
#include <inttypes.h>
#include <avr/io.h>
 
#define MAX_CHANNELS 8
 
// bitmask for VersionInfo_t.HardwareError[0]
#define FC_ERROR0_GYRO_PITCH    0x01
#define FC_ERROR0_GYRO_ROLL     0x02
#define FC_ERROR0_GYRO_YAW      0x04
#define FC_ERROR0_ACC_X         0x08
#define FC_ERROR0_ACC_Y         0x10
#define FC_ERROR0_ACC_Z         0x20
#define FC_ERROR0_PRESSURE      0x40
#define FC_ERROR1_RES0          0x80
// bitmask for VersionInfo_t.HardwareError[1]
#define FC_ERROR1_I2C           0x01
#define FC_ERROR1_BL_MISSING    0x02
#define FC_ERROR1_SPI_RX        0x04
#define FC_ERROR1_PPM           0x08
#define FC_ERROR1_MIXER         0x10
#define FC_ERROR1_RES1          0x20
#define FC_ERROR1_RES2          0x40
#define FC_ERROR1_RES3          0x80
 
typedef struct {
  uint8_t gyroQuadrant;
  uint8_t accQuadrant;
  uint8_t imuReversedFlags;
 
  uint8_t gyroPIDFilterConstant;
  uint8_t gyroDWindowLength;
  uint8_t gyroDFilterConstant;
  uint8_t accFilterConstant;
 
  uint8_t zerothOrderCorrection;
  uint8_t rateTolerance;
 
  uint8_t gyroActivityDamping;
  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
  uint8_t driftCompLimit;   // limit for gyrodrift compensation
 
} IMUConfig_t;
 
extern IMUConfig_t IMUConfig;
 
typedef struct {
        uint8_t P;
        uint8_t I;
        uint8_t D;
} PID_t;
 
typedef struct {
        uint8_t P;
        uint8_t I;
        uint8_t D;
        uint8_t iMax;
} PIDIM_t;
 
typedef enum {
  FLIGHT_MODE_NONE,
  FLIGHT_MODE_MANUAL,
  FLIGHT_MODE_RATE,
  FLIGHT_MODE_ANGLES
} FlightMode_t;
 
#define CONTROL_SERVO_REVERSE_ELEVATOR 1
#define CONTROL_SERVO_REVERSE_AILERONS 2
#define CONTROL_SERVO_REVERSE_RUDDER 4
 
typedef struct {
    uint8_t SWMajor;
    uint8_t SWMinor;
    uint8_t protoMajor;
    uint8_t protoMinor;
    uint8_t SWPatch;
    uint8_t hardwareErrors[5];
}__attribute__((packed)) VersionInfo_t;
 
extern VersionInfo_t versionInfo;
 
typedef struct {
  // IMU stuff:
  PID_t gyroPID[3];
 
  // Control
  /* P */uint8_t externalControl;
 
  // Output and servo
  /*PMM*/uint8_t output0Timing;
  /*PMM*/uint8_t output1Timing;
 
  uint8_t gimbalServoManualControl[2];
 
  /* P */uint8_t userParams[8];
} DynamicParams_t;
 
extern volatile DynamicParams_t dynamicParams;
 
typedef struct {
  uint8_t sourceIdx, targetIdx;
  uint8_t min, max;
} MMXLATION;
 
/*
typedef struct {
  uint8_t sourceIdx, targetIdx;
} XLATION;
*/
 
typedef struct {
  uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.
  uint8_t HWTrim;
  uint8_t variableOffset;
  uint8_t channels[MAX_CHANNELS];
} ChannelMap_t;
extern ChannelMap_t channelMap;
 
// With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated,
// and then save in a succeeding gyro calibration command.
typedef struct {
  int16_t trim[MAX_CHANNELS];
} RCTrim_t;
extern RCTrim_t rcTrim;
 
typedef struct {
  int16_t offsets[3];
} sensorOffset_t;
 
typedef struct {
  uint8_t manualControl;
  uint8_t stabilizationFactor;
  uint8_t minValue;
  uint8_t maxValue;
  uint8_t flags;
} Servo_t;
 
#define SERVO_STABILIZATION_REVERSE 1
 
typedef struct {
  uint8_t bitmask;
  uint8_t timing;
} output_flash_t;
 
// values above 250 representing poti1 to poti4
typedef struct {
  // Global bitflags
  uint8_t bitConfig;  // see upper defines for bitcoding
 
  // Control
  PIDIM_t gyroPID[3];
 
  uint8_t stickIElevator;
  uint8_t stickIAilerons;
  uint8_t stickIRudder;
 
  uint8_t externalControl; // for serial Control
 
  uint8_t IFactor;
 
  uint8_t batteryWarningVoltage;
 
  // Airspeed
  uint8_t airspeedCorrection;
  uint8_t isFlyingThreshold;
 
  // Servos
  uint8_t servoCount;
  uint8_t servosReverse;
 
  uint8_t controlServoMinValue;
  uint8_t controlServoMaxValue;
 
  uint8_t gimbalServoMaxManualSpeed;
  Servo_t gimbalServoConfigurations[2]; // [PITCH, ROLL]
 
  // Outputs
  output_flash_t outputFlash[2];
  uint8_t outputDebugMask;
  uint8_t outputFlags;
 
  // User params
  uint8_t userParams[8];
 
  // Name
  char name[12];
} ParamSet_t;
 
extern ParamSet_t staticParams;
 
// bit mask for staticParams.bitConfig
#define CFG_GYRO_SATURATION_PREVENTION  (1<<0)
#define CFG_USE_AIRSPEED_PID            (1<<1)
 
#define IMU_REVERSE_GYRO_PR             (1<<0)
#define IMU_REVERSE_GYRO_YAW            (1<<1)
#define IMU_REVERSE_ACC_XY              (1<<2)
#define IMU_REVERSE_ACC_Z               (1<<3)
 
#define ATMEGA644   0
#define ATMEGA644P  1
#define SYSCLK F_CPU
 
// Not really a part of configuration, but LEDs and HW s test are the same.
#define RED_OFF   {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else  PORTB |= (1<<PORTB0);}
#define RED_ON    {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else  PORTB &=~(1<<PORTB0);}
#define RED_FLASH PORTB ^= (1<<PORTB0)
#define GRN_OFF   {if(boardRelease  < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);}
#define GRN_ON    {if(boardRelease  < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
#define GRN_FLASH PORTB ^= (1<<PORTB1)
 
// Mixer table
#define MIX_THROTTLE    0
#define MIX_PITCH   1
#define MIX_ROLL    2
#define MIX_YAW     3
 
#define VARIABLE_COUNT 8
 
extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
extern uint8_t boardRelease;
extern uint8_t CPUType;
 
extern volatile uint16_t isFlying;
extern FlightMode_t currentFlightMode;
 
void IMUConfig_default(void);
void channelMap_default(void);
void rcTrim_setZero(void);
void paramSet_default(uint8_t setnumber);
 
void configuration_setFlightParameters(uint8_t newFlightMode);
void configuration_applyVariablesToParams(void);
 
void setCPUType(void);
void setBoardRelease(void);
 
// Called after a change in configuration parameters, as a hook for modules to take over changes.
void configuration_paramSetDidChange(void);
#endif // _CONFIGURATION_H
 

Rev 2132	Rev 2140
1	#ifndef _CONFIGURATION_H	1	#ifndef _CONFIGURATION_H
2	#define _CONFIGURATION_H	2	#define _CONFIGURATION_H
3		3
4	#include <inttypes.h>	4	#include <inttypes.h>
5	#include <avr/io.h>	5	#include <avr/io.h>
6		6
7	#define MAX_CHANNELS 8	7	#define MAX_CHANNELS 8
8		8
9	// bitmask for VersionInfo_t.HardwareError[0]	9	// bitmask for VersionInfo_t.HardwareError[0]
10	#define FC_ERROR0_GYRO_PITCH 0x01	10	#define FC_ERROR0_GYRO_PITCH 0x01
11	#define FC_ERROR0_GYRO_ROLL 0x02	11	#define FC_ERROR0_GYRO_ROLL 0x02
12	#define FC_ERROR0_GYRO_YAW 0x04	12	#define FC_ERROR0_GYRO_YAW 0x04
13	#define FC_ERROR0_ACC_X 0x08	13	#define FC_ERROR0_ACC_X 0x08
14	#define FC_ERROR0_ACC_Y 0x10	14	#define FC_ERROR0_ACC_Y 0x10
15	#define FC_ERROR0_ACC_Z 0x20	15	#define FC_ERROR0_ACC_Z 0x20
16	#define FC_ERROR0_PRESSURE 0x40	16	#define FC_ERROR0_PRESSURE 0x40
17	#define FC_ERROR1_RES0 0x80	17	#define FC_ERROR1_RES0 0x80
18	// bitmask for VersionInfo_t.HardwareError[1]	18	// bitmask for VersionInfo_t.HardwareError[1]
19	#define FC_ERROR1_I2C 0x01	19	#define FC_ERROR1_I2C 0x01
20	#define FC_ERROR1_BL_MISSING 0x02	20	#define FC_ERROR1_BL_MISSING 0x02
21	#define FC_ERROR1_SPI_RX 0x04	21	#define FC_ERROR1_SPI_RX 0x04
22	#define FC_ERROR1_PPM 0x08	22	#define FC_ERROR1_PPM 0x08
23	#define FC_ERROR1_MIXER 0x10	23	#define FC_ERROR1_MIXER 0x10
24	#define FC_ERROR1_RES1 0x20	24	#define FC_ERROR1_RES1 0x20
25	#define FC_ERROR1_RES2 0x40	25	#define FC_ERROR1_RES2 0x40
26	#define FC_ERROR1_RES3 0x80	26	#define FC_ERROR1_RES3 0x80
27		27
28	typedef struct {	28	typedef struct {
29	uint8_t gyroQuadrant;	29	uint8_t gyroQuadrant;
30	uint8_t accQuadrant;	30	uint8_t accQuadrant;
31	uint8_t imuReversedFlags;	31	uint8_t imuReversedFlags;
32		32
33	uint8_t gyroPIDFilterConstant;	33	uint8_t gyroPIDFilterConstant;
34	uint8_t gyroDWindowLength;	34	uint8_t gyroDWindowLength;
35	uint8_t gyroDFilterConstant;	35	uint8_t gyroDFilterConstant;
36	uint8_t accFilterConstant;	36	uint8_t accFilterConstant;
37		37
38	uint8_t zerothOrderCorrection;	38	uint8_t zerothOrderCorrection;
39	uint8_t rateTolerance;	39	uint8_t rateTolerance;
40		40
41	uint8_t gyroActivityDamping;	41	uint8_t gyroActivityDamping;
42	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	42	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
43	uint8_t driftCompLimit; // limit for gyrodrift compensation	43	uint8_t driftCompLimit; // limit for gyrodrift compensation
44	int8_t gyroCalibrationTweak[3];	-
45	} IMUConfig_t;	44	} IMUConfig_t;
46		45
47	extern IMUConfig_t IMUConfig;	46	extern IMUConfig_t IMUConfig;
48		47
49	typedef struct {	48	typedef struct {
50	uint8_t P;	49	uint8_t P;
51	uint8_t I;	50	uint8_t I;
52	uint8_t D;	51	uint8_t D;
53	} PID_t;	52	} PID_t;
54		53
55	typedef struct {	54	typedef struct {
56	uint8_t P;	55	uint8_t P;
57	uint8_t I;	56	uint8_t I;
58	uint8_t D;	57	uint8_t D;
59	uint8_t iMax;	58	uint8_t iMax;
60	} PIDIM_t;	59	} PIDIM_t;
61		60
62	typedef enum {	61	typedef enum {
63	FLIGHT_MODE_NONE,	62	FLIGHT_MODE_NONE,
64	FLIGHT_MODE_MANUAL,	63	FLIGHT_MODE_MANUAL,
65	FLIGHT_MODE_RATE,	64	FLIGHT_MODE_RATE,
66	FLIGHT_MODE_ANGLES	65	FLIGHT_MODE_ANGLES
67	} FlightMode_t;	66	} FlightMode_t;
68		67
69	#define CONTROL_SERVO_REVERSE_ELEVATOR 1	68	#define CONTROL_SERVO_REVERSE_ELEVATOR 1
70	#define CONTROL_SERVO_REVERSE_AILERONS 2	69	#define CONTROL_SERVO_REVERSE_AILERONS 2
71	#define CONTROL_SERVO_REVERSE_RUDDER 4	70	#define CONTROL_SERVO_REVERSE_RUDDER 4
72		71
73	typedef struct {	72	typedef struct {
74	uint8_t SWMajor;	73	uint8_t SWMajor;
75	uint8_t SWMinor;	74	uint8_t SWMinor;
76	uint8_t protoMajor;	75	uint8_t protoMajor;
77	uint8_t protoMinor;	76	uint8_t protoMinor;
78	uint8_t SWPatch;	77	uint8_t SWPatch;
79	uint8_t hardwareErrors[5];	78	uint8_t hardwareErrors[5];
80	}__attribute__((packed)) VersionInfo_t;	79	}__attribute__((packed)) VersionInfo_t;
81		80
82	extern VersionInfo_t versionInfo;	81	extern VersionInfo_t versionInfo;
83		82
84	typedef struct {	83	typedef struct {
85	// IMU stuff:	84	// IMU stuff:
86	PID_t gyroPID[3];	85	PID_t gyroPID[3];
87		86
88	// Control	87	// Control
89	/* P */uint8_t externalControl;	88	/* P */uint8_t externalControl;
90		89
91	// Output and servo	90	// Output and servo
92	/PMM/uint8_t output0Timing;	91	/PMM/uint8_t output0Timing;
93	/PMM/uint8_t output1Timing;	92	/PMM/uint8_t output1Timing;
94		93
95	uint8_t gimbalServoManualControl[2];	94	uint8_t gimbalServoManualControl[2];
96		95
97	/* P */uint8_t userParams[8];	96	/* P */uint8_t userParams[8];
98	} DynamicParams_t;	97	} DynamicParams_t;
99		98
100	extern volatile DynamicParams_t dynamicParams;	99	extern volatile DynamicParams_t dynamicParams;
101		100
102	typedef struct {	101	typedef struct {
103	uint8_t sourceIdx, targetIdx;	102	uint8_t sourceIdx, targetIdx;
104	uint8_t min, max;	103	uint8_t min, max;
105	} MMXLATION;	104	} MMXLATION;
106		105
107	/*	106	/*
108	typedef struct {	107	typedef struct {
109	uint8_t sourceIdx, targetIdx;	108	uint8_t sourceIdx, targetIdx;
110	} XLATION;	109	} XLATION;
111	*/	110	*/
112		111
113	typedef struct {	112	typedef struct {
114	uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.	113	uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.
115	uint8_t HWTrim;	114	uint8_t HWTrim;
116	uint8_t variableOffset;	115	uint8_t variableOffset;
117	uint8_t channels[MAX_CHANNELS];	116	uint8_t channels[MAX_CHANNELS];
118	} ChannelMap_t;	117	} ChannelMap_t;
119	extern ChannelMap_t channelMap;	118	extern ChannelMap_t channelMap;
120		119
121	// With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated,	120	// With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated,
122	// and then save in a succeeding gyro calibration command.	121	// and then save in a succeeding gyro calibration command.
123	typedef struct {	122	typedef struct {
124	int16_t trim[MAX_CHANNELS];	123	int16_t trim[MAX_CHANNELS];
125	} RCTrim_t;	124	} RCTrim_t;
126	extern RCTrim_t rcTrim;	125	extern RCTrim_t rcTrim;
127		126
128	typedef struct {	127	typedef struct {
129	int16_t offsets[3];	128	int16_t offsets[3];
130	} sensorOffset_t;	129	} sensorOffset_t;
131		130
132	typedef struct {	131	typedef struct {
133	uint8_t manualControl;	132	uint8_t manualControl;
134	uint8_t stabilizationFactor;	133	uint8_t stabilizationFactor;
135	uint8_t minValue;	134	uint8_t minValue;
136	uint8_t maxValue;	135	uint8_t maxValue;
137	uint8_t flags;	136	uint8_t flags;
138	} Servo_t;	137	} Servo_t;
139		138
140	#define SERVO_STABILIZATION_REVERSE 1	139	#define SERVO_STABILIZATION_REVERSE 1
141		140
142	typedef struct {	141	typedef struct {
143	uint8_t bitmask;	142	uint8_t bitmask;
144	uint8_t timing;	143	uint8_t timing;
145	} output_flash_t;	144	} output_flash_t;
146		145
147	// values above 250 representing poti1 to poti4	146	// values above 250 representing poti1 to poti4
148	typedef struct {	147	typedef struct {
149	// Global bitflags	148	// Global bitflags
150	uint8_t bitConfig; // see upper defines for bitcoding	149	uint8_t bitConfig; // see upper defines for bitcoding
151		150
152	// Control	151	// Control
153	PIDIM_t gyroPID[3];	152	PIDIM_t gyroPID[3];
154		153
155	uint8_t stickIElevator;	154	uint8_t stickIElevator;
156	uint8_t stickIAilerons;	155	uint8_t stickIAilerons;
157	uint8_t stickIRudder;	156	uint8_t stickIRudder;
158		157
159	uint8_t externalControl; // for serial Control	158	uint8_t externalControl; // for serial Control
160		159
161	uint8_t IFactor;	160	uint8_t IFactor;
162		161
163	uint8_t batteryWarningVoltage;	162	uint8_t batteryWarningVoltage;
164		163
165	// Airspeed	164	// Airspeed
166	uint8_t airspeedCorrection;	165	uint8_t airspeedCorrection;
167	uint8_t isFlyingThreshold;	166	uint8_t isFlyingThreshold;
168		167
169	// Servos	168	// Servos
170	uint8_t servoCount;	169	uint8_t servoCount;
171	uint8_t servosReverse;	170	uint8_t servosReverse;
172		171
173	uint8_t controlServoMinValue;	172	uint8_t controlServoMinValue;
174	uint8_t controlServoMaxValue;	173	uint8_t controlServoMaxValue;
175		174
176	uint8_t gimbalServoMaxManualSpeed;	175	uint8_t gimbalServoMaxManualSpeed;
177	Servo_t gimbalServoConfigurations[2]; // [PITCH, ROLL]	176	Servo_t gimbalServoConfigurations[2]; // [PITCH, ROLL]
178		177
179	// Outputs	178	// Outputs
180	output_flash_t outputFlash[2];	179	output_flash_t outputFlash[2];
181	uint8_t outputDebugMask;	180	uint8_t outputDebugMask;
182	uint8_t outputFlags;	181	uint8_t outputFlags;
183		182
184	// User params	183	// User params
185	uint8_t userParams[8];	184	uint8_t userParams[8];
186		185
187	// Name	186	// Name
188	char name[12];	187	char name[12];
189	} ParamSet_t;	188	} ParamSet_t;
190		189
191	extern ParamSet_t staticParams;	190	extern ParamSet_t staticParams;
192		191
193	// bit mask for staticParams.bitConfig	192	// bit mask for staticParams.bitConfig
194	#define CFG_GYRO_SATURATION_PREVENTION (1<<0)	193	#define CFG_GYRO_SATURATION_PREVENTION (1<<0)
195	#define CFG_USE_AIRSPEED_PID (1<<1)	194	#define CFG_USE_AIRSPEED_PID (1<<1)
196		195
197	#define IMU_REVERSE_GYRO_PR (1<<0)	196	#define IMU_REVERSE_GYRO_PR (1<<0)
198	#define IMU_REVERSE_GYRO_YAW (1<<1)	197	#define IMU_REVERSE_GYRO_YAW (1<<1)
199	#define IMU_REVERSE_ACC_XY (1<<2)	198	#define IMU_REVERSE_ACC_XY (1<<2)
200	#define IMU_REVERSE_ACC_Z (1<<3)	199	#define IMU_REVERSE_ACC_Z (1<<3)
201		200
202	#define ATMEGA644 0	201	#define ATMEGA644 0
203	#define ATMEGA644P 1	202	#define ATMEGA644P 1
204	#define SYSCLK F_CPU	203	#define SYSCLK F_CPU
205		204
206	// Not really a part of configuration, but LEDs and HW s test are the same.	205	// Not really a part of configuration, but LEDs and HW s test are the same.
207	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	206	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
208	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	207	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
209	#define RED_FLASH PORTB ^= (1<<PORTB0)	208	#define RED_FLASH PORTB ^= (1<<PORTB0)
210	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	209	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
211	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	210	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
212	#define GRN_FLASH PORTB ^= (1<<PORTB1)	211	#define GRN_FLASH PORTB ^= (1<<PORTB1)
213		212
214	// Mixer table	213	// Mixer table
215	#define MIX_THROTTLE 0	214	#define MIX_THROTTLE 0
216	#define MIX_PITCH 1	215	#define MIX_PITCH 1
217	#define MIX_ROLL 2	216	#define MIX_ROLL 2
218	#define MIX_YAW 3	217	#define MIX_YAW 3
219		218
220	#define VARIABLE_COUNT 8	219	#define VARIABLE_COUNT 8
221		220
222	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	221	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
223	extern uint8_t boardRelease;	222	extern uint8_t boardRelease;
224	extern uint8_t CPUType;	223	extern uint8_t CPUType;
225		224
226	extern volatile uint16_t isFlying;	225	extern volatile uint16_t isFlying;
227	extern FlightMode_t currentFlightMode;	226	extern FlightMode_t currentFlightMode;
228		227
229	void IMUConfig_default(void);	228	void IMUConfig_default(void);
230	void channelMap_default(void);	229	void channelMap_default(void);
231	void rcTrim_setZero(void);	230	void rcTrim_setZero(void);
232	void paramSet_default(uint8_t setnumber);	231	void paramSet_default(uint8_t setnumber);
233		232
234	void configuration_setFlightParameters(uint8_t newFlightMode);	233	void configuration_setFlightParameters(uint8_t newFlightMode);
235	void configuration_applyVariablesToParams(void);	234	void configuration_applyVariablesToParams(void);
236		235
237	void setCPUType(void);	236	void setCPUType(void);
238	void setBoardRelease(void);	237	void setBoardRelease(void);
239		238
240	// Called after a change in configuration parameters, as a hook for modules to take over changes.	239	// Called after a change in configuration parameters, as a hook for modules to take over changes.
241	void configuration_paramSetDidChange(void);	240	void configuration_paramSetDidChange(void);
242	#endif // _CONFIGURATION_H	241	#endif // _CONFIGURATION_H
243		242

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/configuration.h - Rev 2132 → 2140