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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" |
5 | #include "sensors.h" |
6 | #include "rc.h" |
6 | #include "rc.h" |
7 | #include "output.h" |
7 | #include "output.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 | mixerMatrix_t mixerMatrix; |
13 | mixerMatrix_t mixerMatrix; |
14 | volatile DynamicParams_t dynamicParams; |
14 | volatile DynamicParams_t dynamicParams; |
15 | 15 | ||
16 | uint8_t CPUType; |
16 | uint8_t CPUType; |
17 | uint8_t boardRelease; |
17 | uint8_t boardRelease; |
18 | uint8_t requiredMotors; |
18 | uint8_t requiredMotors; |
19 | 19 | ||
20 | VersionInfo_t versionInfo; |
20 | VersionInfo_t versionInfo; |
21 | 21 | ||
22 | // MK flags. TODO: Replace by enum. State machine. |
22 | // MK flags. TODO: Replace by enum. State machine. |
23 | uint16_t isFlying = 0; |
23 | uint16_t isFlying = 0; |
24 | volatile uint8_t MKFlags = 0; |
24 | volatile uint8_t MKFlags = 0; |
25 | 25 | ||
26 | const MMXLATION XLATIONS[] = { |
26 | const MMXLATION XLATIONS[] = { |
27 | {offsetof(ParamSet_t, levelCorrection[0]), offsetof(DynamicParams_t, levelCorrection[0]),0,255}, |
27 | {offsetof(ParamSet_t, levelCorrection[0]), offsetof(DynamicParams_t, levelCorrection[0]),0,255}, |
28 | {offsetof(ParamSet_t, levelCorrection[1]), offsetof(DynamicParams_t, levelCorrection[1]),0,255}, |
28 | {offsetof(ParamSet_t, levelCorrection[1]), offsetof(DynamicParams_t, levelCorrection[1]),0,255}, |
29 | {offsetof(ParamSet_t, gyroP), offsetof(DynamicParams_t, gyroP),0,255}, |
29 | {offsetof(ParamSet_t, gyroP), offsetof(DynamicParams_t, gyroP),0,255}, |
30 | {offsetof(ParamSet_t, gyroI), offsetof(DynamicParams_t, gyroI),0,255}, |
30 | {offsetof(ParamSet_t, gyroI), offsetof(DynamicParams_t, gyroI),0,255}, |
31 | {offsetof(ParamSet_t, gyroD), offsetof(DynamicParams_t, gyroD),0,255}, |
31 | {offsetof(ParamSet_t, gyroD), offsetof(DynamicParams_t, gyroD),0,255}, |
32 | {offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255}, |
32 | {offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255}, |
33 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
33 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
34 | {offsetof(ParamSet_t, dynamicStability), offsetof(DynamicParams_t, dynamicStability),0,255}, |
34 | {offsetof(ParamSet_t, dynamicStability), offsetof(DynamicParams_t, dynamicStability),0,255}, |
35 | {offsetof(ParamSet_t, heightP), offsetof(DynamicParams_t, heightP),0,255}, |
35 | {offsetof(ParamSet_t, heightP), offsetof(DynamicParams_t, heightP),0,255}, |
36 | {offsetof(ParamSet_t, heightI), offsetof(DynamicParams_t, heightI),0,255}, |
36 | {offsetof(ParamSet_t, heightI), offsetof(DynamicParams_t, heightI),0,255}, |
37 | {offsetof(ParamSet_t, heightD), offsetof(DynamicParams_t, heightD),0,255}, |
37 | {offsetof(ParamSet_t, heightD), offsetof(DynamicParams_t, heightD),0,255}, |
38 | {offsetof(ParamSet_t, heightSetting), offsetof(DynamicParams_t, heightSetting),0,255}, |
38 | {offsetof(ParamSet_t, heightSetting), offsetof(DynamicParams_t, heightSetting),0,255}, |
39 | {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}, |
40 | {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}, |
41 | {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}, |
42 | {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}, |
43 | {offsetof(ParamSet_t, naviMode), offsetof(DynamicParams_t, naviMode),0,255}}; |
43 | {offsetof(ParamSet_t, naviMode), offsetof(DynamicParams_t, naviMode),0,255}}; |
44 | 44 | ||
45 | 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) { |
46 | uint8_t result; |
46 | uint8_t result; |
47 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
47 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
48 | else result = src; |
48 | else result = src; |
49 | if (result < min) result = min; |
49 | if (result < min) result = min; |
50 | else if (result > max) result = max; |
50 | else if (result > max) result = max; |
51 | return result; |
51 | return result; |
52 | } |
52 | } |
53 | 53 | ||
54 | void configuration_applyVariablesToParams(void) { |
54 | void configuration_applyVariablesToParams(void) { |
55 | uint8_t i, src; |
55 | uint8_t i, src; |
56 | uint8_t* pointerToTgt; |
56 | uint8_t* pointerToTgt; |
57 | 57 | ||
58 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
58 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
59 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
59 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
60 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
60 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
61 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
61 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
62 | } |
62 | } |
63 | 63 | ||
64 | // User parameters are always variable. |
64 | // User parameters are always variable. |
65 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
65 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
66 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
66 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
67 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
67 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
68 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
68 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
69 | } |
69 | } |
70 | } |
70 | } |
71 | 71 | ||
72 | 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 |
73 | 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 |
74 | else CPUType = ATMEGA644; |
74 | else CPUType = ATMEGA644; |
75 | } |
75 | } |
76 | 76 | ||
77 | /* |
77 | /* |
78 | * 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 |
79 | * 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 |
80 | * configurations with otherwise unsupported components. Instead, one should write |
80 | * configurations with otherwise unsupported components. Instead, one should write |
81 | * 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 |
82 | * from the makefile. |
82 | * from the makefile. |
83 | * 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 |
84 | * 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 |
85 | * on different HW version.... |
85 | * on different HW version.... |
86 | */ |
86 | */ |
87 | void setBoardRelease(void) { |
87 | void setBoardRelease(void) { |
88 | // 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 |
89 | 89 | ||
90 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
90 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
91 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
91 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
92 | 92 | ||
93 | _delay_loop_2(1000); // make some delay |
93 | _delay_loop_2(1000); // make some delay |
94 | 94 | ||
95 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
95 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
96 | case 0x00: |
96 | case 0x00: |
97 | boardRelease = 10; // 1.0 |
97 | boardRelease = 10; // 1.0 |
98 | break; |
98 | break; |
99 | case 0x01: |
99 | case 0x01: |
100 | boardRelease = 11; // 1.1 or 1.2 |
100 | boardRelease = 11; // 1.1 or 1.2 |
101 | break; |
101 | break; |
102 | case 0x02: |
102 | case 0x02: |
103 | boardRelease = 20; // 2.0 |
103 | boardRelease = 20; // 2.0 |
104 | break; |
104 | break; |
105 | case 0x03: |
105 | case 0x03: |
106 | boardRelease = 13; // 1.3 |
106 | boardRelease = 13; // 1.3 |
107 | break; |
107 | break; |
108 | default: |
108 | default: |
109 | break; |
109 | break; |
110 | } |
110 | } |
111 | // set LED ports as output |
111 | // set LED ports as output |
112 | DDRB |= (1<<DDB1)|(1<<DDB0); |
112 | DDRB |= (1<<DDB1)|(1<<DDB0); |
113 | RED_OFF; |
113 | RED_OFF; |
114 | GRN_OFF; |
114 | GRN_OFF; |
115 | } |
115 | } |
116 | 116 | ||
117 | void configuration_setNormalFlightParameters(void) { |
117 | void configuration_setNormalFlightParameters(void) { |
118 | flight_setParameters(staticParams.IFactor, dynamicParams.gyroP, |
118 | flight_setParameters(staticParams.IFactor, dynamicParams.gyroP, |
119 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
119 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
120 | dynamicParams.gyroP, staticParams.yawIFactor); |
120 | dynamicParams.gyroP, staticParams.yawIFactor); |
121 | } |
121 | } |
122 | 122 | ||
123 | void configuration_setFailsafeFlightParameters(void) { |
123 | void configuration_setFailsafeFlightParameters(void) { |
124 | flight_setParameters(0, 90, 120, 90, 120); |
124 | flight_setParameters(0, 90, 120, 90, 120); |
125 | } |
125 | } |
126 | 126 | ||
127 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
127 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
128 | void configuration_paramSetDidChange(void) { |
128 | void configuration_paramSetDidChange(void) { |
129 | // This should be OK to do here as long as we don't change parameters during emergency flight. We don't. |
129 | // This should be OK to do here as long as we don't change parameters during emergency flight. We don't. |
130 | configuration_setNormalFlightParameters(); |
130 | configuration_setNormalFlightParameters(); |
131 | // Immediately load changes to output, and also signal the paramset change. |
131 | // Immediately load changes to output, and also signal the paramset change. |
132 | output_init(); |
132 | output_init(); |
133 | } |
133 | } |
134 | 134 | ||
135 | void setOtherDefaults(void) { |
135 | void setOtherDefaults(void) { |
136 | // Height Control |
136 | // Height Control |
137 | staticParams.airpressureFilterConstant = 8; |
137 | staticParams.airpressureFilterConstant = 8; |
138 | //staticParams.airpressureWindowLength = 0; |
138 | //staticParams.airpressureWindowLength = 0; |
139 | staticParams.airpressureAccZCorrection = 128+56; |
139 | staticParams.airpressureAccZCorrection = 128+56; |
140 | staticParams.heightP = 10; |
140 | staticParams.heightP = 10; |
141 | staticParams.heightD = 30; |
141 | staticParams.heightD = 30; |
142 | staticParams.heightSetting = 251; |
142 | staticParams.heightSetting = 251; |
143 | staticParams.heightControlMaxThrottleChange = 10; |
143 | staticParams.heightControlMaxThrottleChange = 10; |
144 | 144 | ||
145 | // Control |
145 | // Control |
146 | staticParams.stickP = 8; |
146 | staticParams.stickP = 8; |
147 | staticParams.stickD = 12; |
147 | staticParams.stickD = 12; |
148 | staticParams.stickYawP = 12; |
148 | staticParams.stickYawP = 12; |
149 | staticParams.stickThrottleD = 12; |
149 | staticParams.stickThrottleD = 12; |
150 | staticParams.minThrottle = 8; |
150 | staticParams.minThrottle = 8; |
151 | staticParams.maxThrottle = 230; |
151 | staticParams.maxThrottle = 230; |
152 | staticParams.externalControl = 0; |
152 | staticParams.externalControl = 0; |
153 | staticParams.motorSmoothing = 0; |
153 | staticParams.motorSmoothing = 0; |
154 | 154 | ||
155 | // IMU |
155 | // IMU |
156 | staticParams.gyroPIDFilterConstant = 1; |
156 | staticParams.gyroPIDFilterConstant = 1; |
157 | staticParams.gyroATTFilterConstant = 1; |
- | |
158 | staticParams.gyroDFilterConstant = 1; |
157 | staticParams.gyroDFilterConstant = 1; |
159 | staticParams.accFilterConstant = 10; |
158 | staticParams.accFilterConstant = 10; |
160 | 159 | ||
161 | staticParams.gyroP = 60; |
160 | staticParams.gyroP = 60; |
162 | staticParams.gyroI = 80; |
161 | staticParams.gyroI = 80; |
163 | staticParams.gyroD = 4; |
162 | staticParams.gyroD = 4; |
164 | 163 | ||
165 | // set by gyro-specific code: gyro_setDefaults(). |
164 | // set by gyro-specific code: gyro_setDefaults(). |
166 | // staticParams.zerothOrderCorrection = |
165 | // staticParams.zerothOrderCorrection = |
167 | // staticParams.driftCompDivider = |
166 | // staticParams.driftCompDivider = |
168 | // staticParams.driftCompLimit = |
167 | // staticParams.driftCompLimit = |
169 | 168 | ||
170 | staticParams.dynamicStability = 50; |
169 | staticParams.dynamicStability = 50; |
171 | staticParams.zerothOrderCorrectionAccTolerance = 60; |
170 | staticParams.rateTolerance = 10; |
172 | staticParams.zerothOrderCorrectionControlTolerance = 60; |
171 | staticParams.yawRateFactor = 4; |
173 | staticParams.IFactor = 52; |
172 | staticParams.IFactor = 52; |
174 | staticParams.yawIFactor = 100; |
173 | staticParams.yawIFactor = 100; |
175 | staticParams.compassYawCorrection = 64; |
174 | staticParams.compassYawCorrection = 64; |
176 | staticParams.compassP = 50; |
175 | staticParams.compassP = 50; |
177 | staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
176 | staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
178 | 177 | ||
179 | // Servos |
178 | // Servos |
180 | staticParams.servoCount = 7; |
179 | staticParams.servoCount = 7; |
181 | staticParams.servoManualMaxSpeed = 10; |
180 | staticParams.servoManualMaxSpeed = 10; |
182 | for (uint8_t i=0; i<2; i++) { |
181 | for (uint8_t i=0; i<2; i++) { |
183 | staticParams.servoConfigurations[i].manualControl = 128; |
182 | staticParams.servoConfigurations[i].manualControl = 128; |
184 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
183 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
185 | staticParams.servoConfigurations[i].minValue = 32; |
184 | staticParams.servoConfigurations[i].minValue = 32; |
186 | staticParams.servoConfigurations[i].maxValue = 224; |
185 | staticParams.servoConfigurations[i].maxValue = 224; |
187 | staticParams.servoConfigurations[i].flags = 0; |
186 | staticParams.servoConfigurations[i].flags = 0; |
188 | } |
187 | } |
189 | 188 | ||
190 | // Battery warning and emergency flight |
189 | // Battery warning and emergency flight |
191 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
190 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
192 | staticParams.emergencyThrottle = 35; |
191 | staticParams.emergencyThrottle = 35; |
193 | staticParams.emergencyFlightDuration = 30; |
192 | staticParams.emergencyFlightDuration = 30; |
194 | 193 | ||
195 | // Outputs |
194 | // Outputs |
196 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
195 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
197 | staticParams.outputFlash[0].timing = 15; |
196 | staticParams.outputFlash[0].timing = 15; |
198 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
197 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
199 | staticParams.outputFlash[1].timing = 15; |
198 | staticParams.outputFlash[1].timing = 15; |
200 | 199 | ||
201 | staticParams.outputDebugMask = 8; |
200 | staticParams.outputDebugMask = 8; |
202 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
201 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
203 | 202 | ||
204 | staticParams.naviMode = 0; // free. |
203 | staticParams.naviMode = 0; // free. |
205 | - | ||
206 | staticParams.maxControlActivity = 0; // temporary! |
- | |
207 | staticParams.maxAccVector = 80; |
- | |
208 | } |
204 | } |
209 | 205 | ||
210 | /***************************************************/ |
206 | /***************************************************/ |
211 | /* Default Values for parameter set 1 */ |
207 | /* Default Values for parameter set 1 */ |
212 | /***************************************************/ |
208 | /***************************************************/ |
213 | void paramSet_default(uint8_t setnumber) { |
209 | void paramSet_default(uint8_t setnumber) { |
214 | setOtherDefaults(); |
210 | setOtherDefaults(); |
215 | gyro_setDefaultParameters(); |
211 | gyro_setDefaultParameters(); |
216 | 212 | ||
217 | for (uint8_t i=0; i<8; i++) { |
213 | for (uint8_t i=0; i<8; i++) { |
218 | staticParams.userParams[i] = 0; |
214 | staticParams.userParams[i] = 0; |
219 | } |
215 | } |
220 | 216 | ||
221 | staticParams.bitConfig = |
217 | staticParams.bitConfig = |
222 | CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED; |
218 | CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED; |
223 | 219 | ||
224 | memcpy(staticParams.name, "Default\0", 6); |
220 | memcpy(staticParams.name, "Default\0", 6); |
225 | } |
221 | } |
226 | 222 | ||
227 | /***************************************************/ |
223 | /***************************************************/ |
228 | /* Default Values for Mixer Table */ |
224 | /* Default Values for Mixer Table */ |
229 | /***************************************************/ |
225 | /***************************************************/ |
230 | void mixerMatrix_default(void) { // Quadro |
226 | void mixerMatrix_default(void) { // Quadro |
231 | uint8_t i; |
227 | uint8_t i; |
232 | // mixerMatric.revision = EEMIXER_REVISION; |
228 | // mixerMatric.revision = EEMIXER_REVISION; |
233 | // clear mixer table (but preset throttle) |
229 | // clear mixer table (but preset throttle) |
234 | for (i = 0; i < 16; i++) { |
230 | for (i = 0; i < 16; i++) { |
235 | mixerMatrix.motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
231 | mixerMatrix.motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
236 | mixerMatrix.motor[i][MIX_PITCH] = 0; |
232 | mixerMatrix.motor[i][MIX_PITCH] = 0; |
237 | mixerMatrix.motor[i][MIX_ROLL] = 0; |
233 | mixerMatrix.motor[i][MIX_ROLL] = 0; |
238 | mixerMatrix.motor[i][MIX_YAW] = 0; |
234 | mixerMatrix.motor[i][MIX_YAW] = 0; |
239 | } |
235 | } |
240 | // default = Quadro |
236 | // default = Quadro |
241 | mixerMatrix.motor[0][MIX_PITCH] = +64; |
237 | mixerMatrix.motor[0][MIX_PITCH] = +64; |
242 | mixerMatrix.motor[0][MIX_YAW] = +64; |
238 | mixerMatrix.motor[0][MIX_YAW] = +64; |
243 | mixerMatrix.motor[1][MIX_PITCH] = -64; |
239 | mixerMatrix.motor[1][MIX_PITCH] = -64; |
244 | mixerMatrix.motor[1][MIX_YAW] = +64; |
240 | mixerMatrix.motor[1][MIX_YAW] = +64; |
245 | mixerMatrix.motor[2][MIX_ROLL] = -64; |
241 | mixerMatrix.motor[2][MIX_ROLL] = -64; |
246 | mixerMatrix.motor[2][MIX_YAW] = -64; |
242 | mixerMatrix.motor[2][MIX_YAW] = -64; |
247 | mixerMatrix.motor[3][MIX_ROLL] = +64; |
243 | mixerMatrix.motor[3][MIX_ROLL] = +64; |
248 | mixerMatrix.motor[3][MIX_YAW] = -64; |
244 | mixerMatrix.motor[3][MIX_YAW] = -64; |
249 | memcpy(mixerMatrix.name, "Quadro\0", 7); |
245 | memcpy(mixerMatrix.name, "Quadro\0", 7); |
250 | 246 | ||
251 | /* |
247 | /* |
252 | // default = X |
248 | // default = X |
253 | mixerMatrix.motor[0][MIX_PITCH] = +45; |
249 | mixerMatrix.motor[0][MIX_PITCH] = +45; |
254 | mixerMatrix.motor[0][MIX_ROLL] = +45; |
250 | mixerMatrix.motor[0][MIX_ROLL] = +45; |
255 | mixerMatrix.motor[0][MIX_YAW] = +64; |
251 | mixerMatrix.motor[0][MIX_YAW] = +64; |
256 | 252 | ||
257 | mixerMatrix.motor[1][MIX_PITCH] = -45; |
253 | mixerMatrix.motor[1][MIX_PITCH] = -45; |
258 | mixerMatrix.motor[1][MIX_ROLL] = -45; |
254 | mixerMatrix.motor[1][MIX_ROLL] = -45; |
259 | mixerMatrix.motor[1][MIX_YAW] = +64; |
255 | mixerMatrix.motor[1][MIX_YAW] = +64; |
260 | 256 | ||
261 | mixerMatrix.motor[2][MIX_PITCH] = +45; |
257 | mixerMatrix.motor[2][MIX_PITCH] = +45; |
262 | mixerMatrix.motor[2][MIX_ROLL] = -45; |
258 | mixerMatrix.motor[2][MIX_ROLL] = -45; |
263 | mixerMatrix.motor[2][MIX_YAW] = -64; |
259 | mixerMatrix.motor[2][MIX_YAW] = -64; |
264 | 260 | ||
265 | mixerMatrix.motor[3][MIX_PITCH] = -45; |
261 | mixerMatrix.motor[3][MIX_PITCH] = -45; |
266 | mixerMatrix.motor[3][MIX_ROLL] = +45; |
262 | mixerMatrix.motor[3][MIX_ROLL] = +45; |
267 | mixerMatrix.motor[3][MIX_YAW] = -64; |
263 | mixerMatrix.motor[3][MIX_YAW] = -64; |
268 | */ |
264 | */ |
269 | 265 | ||
270 | memcpy(mixerMatrix.name, "X\0", 7); |
266 | memcpy(mixerMatrix.name, "X\0", 7); |
271 | } |
267 | } |
272 | 268 | ||
273 | /***************************************************/ |
269 | /***************************************************/ |
274 | /* Default Values for R/C Channels */ |
270 | /* Default Values for R/C Channels */ |
275 | /***************************************************/ |
271 | /***************************************************/ |
276 | void channelMap_default(void) { |
272 | void channelMap_default(void) { |
277 | channelMap.channels[CH_PITCH] = 1; |
273 | channelMap.channels[CH_PITCH] = 1; |
278 | channelMap.channels[CH_ROLL] = 0; |
274 | channelMap.channels[CH_ROLL] = 0; |
279 | channelMap.channels[CH_THROTTLE] = 2; |
275 | channelMap.channels[CH_THROTTLE] = 2; |
280 | channelMap.channels[CH_YAW] = 3; |
276 | channelMap.channels[CH_YAW] = 3; |
281 | channelMap.channels[CH_POTS + 0] = 4; |
277 | channelMap.channels[CH_POTS + 0] = 4; |
282 | channelMap.channels[CH_POTS + 1] = 5; |
278 | channelMap.channels[CH_POTS + 1] = 5; |
283 | channelMap.channels[CH_POTS + 2] = 6; |
279 | channelMap.channels[CH_POTS + 2] = 6; |
284 | channelMap.channels[CH_POTS + 3] = 7; |
280 | channelMap.channels[CH_POTS + 3] = 7; |
285 | } |
281 | } |
286 | 282 |