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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 | 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 | // MK flags. TODO: Replace by enum. State machine. |
23 | // MK flags. TODO: Replace by enum. State machine. |
23 | uint16_t isFlying = 0; |
24 | uint16_t isFlying = 0; |
24 | volatile uint8_t MKFlags = 0; |
25 | volatile uint8_t MKFlags = 0; |
25 | 26 | ||
26 | const MMXLATION XLATIONS[] = { |
27 | const MMXLATION XLATIONS[] = { |
27 | {offsetof(ParamSet_t, levelCorrection[0]), offsetof(DynamicParams_t, levelCorrection[0]),0,255}, |
28 | {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}, |
29 | {offsetof(ParamSet_t, levelCorrection[1]), offsetof(DynamicParams_t, levelCorrection[1]),0,255}, |
29 | {offsetof(ParamSet_t, gyroP), offsetof(DynamicParams_t, gyroP),0,255}, |
30 | {offsetof(ParamSet_t, gyroP), offsetof(DynamicParams_t, gyroP),0,255}, |
30 | {offsetof(ParamSet_t, gyroI), offsetof(DynamicParams_t, gyroI),0,255}, |
31 | {offsetof(ParamSet_t, gyroI), offsetof(DynamicParams_t, gyroI),0,255}, |
31 | {offsetof(ParamSet_t, gyroD), offsetof(DynamicParams_t, gyroD),0,255}, |
32 | {offsetof(ParamSet_t, gyroD), offsetof(DynamicParams_t, gyroD),0,255}, |
32 | {offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255}, |
33 | {offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255}, |
33 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
34 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
34 | {offsetof(ParamSet_t, dynamicStability), offsetof(DynamicParams_t, dynamicStability),0,255}, |
35 | {offsetof(ParamSet_t, dynamicStability), offsetof(DynamicParams_t, dynamicStability),0,255}, |
35 | {offsetof(ParamSet_t, heightP), offsetof(DynamicParams_t, heightP),0,255}, |
36 | {offsetof(ParamSet_t, heightP), offsetof(DynamicParams_t, heightP),0,255}, |
36 | {offsetof(ParamSet_t, heightI), offsetof(DynamicParams_t, heightI),0,255}, |
37 | {offsetof(ParamSet_t, heightI), offsetof(DynamicParams_t, heightI),0,255}, |
37 | {offsetof(ParamSet_t, heightD), offsetof(DynamicParams_t, heightD),0,255}, |
38 | {offsetof(ParamSet_t, heightD), offsetof(DynamicParams_t, heightD),0,255}, |
38 | {offsetof(ParamSet_t, heightSetting), offsetof(DynamicParams_t, heightSetting),0,255}, |
39 | {offsetof(ParamSet_t, heightSetting), offsetof(DynamicParams_t, heightSetting),0,255}, |
39 | {offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255}, |
40 | {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}, |
41 | {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}, |
42 | {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}, |
43 | {offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255}, |
43 | {offsetof(ParamSet_t, naviMode), offsetof(DynamicParams_t, naviMode),0,255}}; |
44 | {offsetof(ParamSet_t, naviMode), offsetof(DynamicParams_t, naviMode),0,255}}; |
44 | 45 | ||
45 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
46 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
46 | uint8_t result; |
47 | uint8_t result; |
47 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
48 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
48 | else result = src; |
49 | else result = src; |
49 | if (result < min) result = min; |
50 | if (result < min) result = min; |
50 | else if (result > max) result = max; |
51 | else if (result > max) result = max; |
51 | return result; |
52 | return result; |
52 | } |
53 | } |
53 | 54 | ||
54 | void configuration_applyVariablesToParams(void) { |
55 | void configuration_applyVariablesToParams(void) { |
55 | uint8_t i, src; |
56 | uint8_t i, src; |
56 | uint8_t* pointerToTgt; |
57 | uint8_t* pointerToTgt; |
57 | 58 | ||
58 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
59 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
59 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
60 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
60 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
61 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
61 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
62 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
62 | } |
63 | } |
63 | 64 | ||
64 | // User parameters are always variable. |
65 | // User parameters are always variable. |
65 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
66 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
66 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
67 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
67 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
68 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
68 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
69 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
69 | } |
70 | } |
70 | } |
71 | } |
71 | 72 | ||
72 | void setCPUType(void) { // works only after reset or power on when the registers have default values |
73 | 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 |
74 | if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
74 | else CPUType = ATMEGA644; |
75 | else CPUType = ATMEGA644; |
75 | } |
76 | } |
76 | 77 | ||
77 | /* |
78 | /* |
78 | * Automatic detection of hardware components is not supported in this development-oriented |
79 | * 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 |
80 | * FC firmware. It would go against the point of it: To enable alternative hardware |
80 | * configurations with otherwise unsupported components. Instead, one should write |
81 | * configurations with otherwise unsupported components. Instead, one should write |
81 | * custom code + adjust constants for the new hardware, and include the relevant code |
82 | * custom code + adjust constants for the new hardware, and include the relevant code |
82 | * from the makefile. |
83 | * from the makefile. |
83 | * However - we still do detect the board release. Reason: Otherwise it would be too |
84 | * 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 |
85 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
85 | * on different HW version.... |
86 | * on different HW version.... |
86 | */ |
87 | */ |
87 | void setBoardRelease(void) { |
88 | void setBoardRelease(void) { |
88 | // the board release is coded via the pull up or down the 2 status LED |
89 | // the board release is coded via the pull up or down the 2 status LED |
89 | 90 | ||
90 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
91 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
91 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
92 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
92 | 93 | ||
93 | _delay_loop_2(1000); // make some delay |
94 | _delay_loop_2(1000); // make some delay |
94 | 95 | ||
95 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
96 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
96 | case 0x00: |
97 | case 0x00: |
97 | boardRelease = 10; // 1.0 |
98 | boardRelease = 10; // 1.0 |
98 | break; |
99 | break; |
99 | case 0x01: |
100 | case 0x01: |
100 | boardRelease = 11; // 1.1 or 1.2 |
101 | boardRelease = 11; // 1.1 or 1.2 |
101 | break; |
102 | break; |
102 | case 0x02: |
103 | case 0x02: |
103 | boardRelease = 20; // 2.0 |
104 | boardRelease = 20; // 2.0 |
104 | break; |
105 | break; |
105 | case 0x03: |
106 | case 0x03: |
106 | boardRelease = 13; // 1.3 |
107 | boardRelease = 13; // 1.3 |
107 | break; |
108 | break; |
108 | default: |
109 | default: |
109 | break; |
110 | break; |
110 | } |
111 | } |
111 | // set LED ports as output |
112 | // set LED ports as output |
112 | DDRB |= (1<<DDB1)|(1<<DDB0); |
113 | DDRB |= (1<<DDB1)|(1<<DDB0); |
113 | RED_OFF; |
114 | RED_OFF; |
114 | GRN_OFF; |
115 | GRN_OFF; |
115 | } |
116 | } |
116 | 117 | ||
117 | void configuration_setNormalFlightParameters(void) { |
118 | void configuration_setNormalFlightParameters(void) { |
118 | flight_setParameters(staticParams.IFactor, dynamicParams.gyroP, |
119 | flight_setParameters(staticParams.IFactor, dynamicParams.gyroP, |
119 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
120 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
120 | dynamicParams.gyroP, staticParams.yawIFactor); |
121 | dynamicParams.gyroP, staticParams.yawIFactor); |
121 | } |
122 | } |
122 | 123 | ||
123 | void configuration_setFailsafeFlightParameters(void) { |
124 | void configuration_setFailsafeFlightParameters(void) { |
124 | flight_setParameters(0, 90, 120, 90, 120); |
125 | flight_setParameters(0, 90, 120, 90, 120); |
125 | } |
126 | } |
126 | 127 | ||
127 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
128 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
128 | void configuration_paramSetDidChange(void) { |
129 | 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. |
130 | // This should be OK to do here as long as we don't change parameters during emergency flight. We don't. |
130 | configuration_setNormalFlightParameters(); |
131 | configuration_setNormalFlightParameters(); |
131 | // Immediately load changes to output, and also signal the paramset change. |
132 | // Immediately load changes to output, and also signal the paramset change. |
132 | output_init(); |
133 | output_init(); |
133 | } |
134 | } |
134 | 135 | ||
135 | void setOtherDefaults(void) { |
136 | void setOtherDefaults(void) { |
136 | // Height Control |
137 | // Height Control |
137 | staticParams.airpressureFilterConstant = 8; |
138 | staticParams.airpressureFilterConstant = 8; |
138 | //staticParams.airpressureWindowLength = 0; |
139 | //staticParams.airpressureWindowLength = 0; |
139 | staticParams.airpressureAccZCorrection = 128+56; |
140 | staticParams.airpressureAccZCorrection = 128+56; |
140 | staticParams.heightP = 10; |
141 | staticParams.heightP = 10; |
141 | staticParams.heightD = 30; |
142 | staticParams.heightD = 30; |
142 | staticParams.heightSetting = 251; |
143 | staticParams.heightSetting = 251; |
143 | staticParams.heightControlMaxThrottleChange = 10; |
144 | staticParams.heightControlMaxThrottleChange = 10; |
144 | 145 | ||
145 | // Control |
146 | // Control |
146 | staticParams.stickP = 8; |
147 | staticParams.stickP = 8; |
147 | staticParams.stickD = 12; |
148 | staticParams.stickD = 12; |
148 | staticParams.stickYawP = 12; |
149 | staticParams.stickYawP = 12; |
149 | staticParams.stickThrottleD = 12; |
150 | staticParams.stickThrottleD = 12; |
150 | staticParams.minThrottle = 8; |
151 | staticParams.minThrottle = 8; |
151 | staticParams.maxThrottle = 230; |
152 | staticParams.maxThrottle = 230; |
152 | staticParams.externalControl = 0; |
153 | staticParams.externalControl = 0; |
153 | staticParams.motorSmoothing = 0; |
154 | staticParams.motorSmoothing = 0; |
154 | - | ||
155 | // IMU |
- | |
156 | staticParams.gyroPIDFilterConstant = 1; |
- | |
157 | staticParams.gyroDFilterConstant = 1; |
- | |
158 | staticParams.accFilterConstant = 10; |
- | |
159 | 155 | ||
160 | staticParams.gyroP = 60; |
156 | staticParams.gyroP = 60; |
161 | staticParams.gyroI = 80; |
157 | staticParams.gyroI = 80; |
162 | staticParams.gyroD = 4; |
158 | staticParams.gyroD = 4; |
163 | 159 | ||
164 | // set by gyro-specific code: gyro_setDefaults(). |
160 | // set by gyro-specific code: gyro_setDefaults(). |
165 | // staticParams.zerothOrderCorrection = |
161 | // staticParams.zerothOrderCorrection = |
166 | // staticParams.driftCompDivider = |
162 | // staticParams.driftCompDivider = |
167 | // staticParams.driftCompLimit = |
163 | // staticParams.driftCompLimit = |
168 | 164 | ||
169 | staticParams.dynamicStability = 50; |
165 | staticParams.dynamicStability = 50; |
170 | staticParams.rateTolerance = 10; |
- | |
171 | staticParams.yawRateFactor = 4; |
- | |
172 | staticParams.IFactor = 52; |
166 | staticParams.IFactor = 52; |
173 | staticParams.yawIFactor = 100; |
167 | staticParams.yawIFactor = 100; |
174 | staticParams.compassYawCorrection = 64; |
168 | staticParams.compassYawCorrection = 64; |
175 | staticParams.compassP = 50; |
169 | staticParams.compassP = 50; |
176 | staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
170 | staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
177 | 171 | ||
178 | // Servos |
172 | // Servos |
179 | staticParams.servoCount = 7; |
173 | staticParams.servoCount = 7; |
180 | staticParams.servoManualMaxSpeed = 10; |
174 | staticParams.servoManualMaxSpeed = 10; |
181 | for (uint8_t i=0; i<2; i++) { |
175 | for (uint8_t i=0; i<2; i++) { |
182 | staticParams.servoConfigurations[i].manualControl = 128; |
176 | staticParams.servoConfigurations[i].manualControl = 128; |
183 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
177 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
184 | staticParams.servoConfigurations[i].minValue = 32; |
178 | staticParams.servoConfigurations[i].minValue = 32; |
185 | staticParams.servoConfigurations[i].maxValue = 224; |
179 | staticParams.servoConfigurations[i].maxValue = 224; |
186 | staticParams.servoConfigurations[i].flags = 0; |
180 | staticParams.servoConfigurations[i].flags = 0; |
187 | } |
181 | } |
188 | 182 | ||
189 | // Battery warning and emergency flight |
183 | // Battery warning and emergency flight |
190 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
184 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
191 | staticParams.emergencyThrottle = 35; |
185 | staticParams.emergencyThrottle = 35; |
192 | staticParams.emergencyFlightDuration = 30; |
186 | staticParams.emergencyFlightDuration = 30; |
193 | 187 | ||
194 | // Outputs |
188 | // Outputs |
195 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
189 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
196 | staticParams.outputFlash[0].timing = 15; |
190 | staticParams.outputFlash[0].timing = 15; |
197 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
191 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
198 | staticParams.outputFlash[1].timing = 15; |
192 | staticParams.outputFlash[1].timing = 15; |
199 | 193 | ||
200 | staticParams.outputDebugMask = 8; |
194 | staticParams.outputDebugMask = 8; |
201 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
195 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
202 | 196 | ||
203 | staticParams.naviMode = 0; // free. |
197 | staticParams.naviMode = 0; // free. |
- | 198 | staticParams.airpressureWindowLength = 0; |
|
- | 199 | staticParams.airpressureDWindowLength = 24; |
|
- | 200 | ||
- | 201 | staticParams.heightControlMaxIntegralIn = 125; |
|
- | 202 | staticParams.heightControlMaxIntegralOut = 75; |
|
- | 203 | staticParams.heightControlMaxThrottleChange = 75; |
|
- | 204 | staticParams.heightControlTestOscPeriod = 0; |
|
- | 205 | staticParams.heightControlTestOscAmplitude = 0; |
|
204 | } |
206 | } |
205 | 207 | ||
206 | /***************************************************/ |
208 | /***************************************************/ |
207 | /* Default Values for parameter set 1 */ |
209 | /* Default Values for parameter set 1 */ |
208 | /***************************************************/ |
210 | /***************************************************/ |
209 | void paramSet_default(uint8_t setnumber) { |
211 | void paramSet_default(uint8_t setnumber) { |
210 | setOtherDefaults(); |
212 | setOtherDefaults(); |
211 | gyro_setDefaultParameters(); |
- | |
212 | 213 | ||
213 | for (uint8_t i=0; i<8; i++) { |
214 | for (uint8_t i=0; i<8; i++) { |
214 | staticParams.userParams[i] = 0; |
215 | staticParams.userParams[i] = i; |
215 | } |
216 | } |
216 | 217 | ||
217 | staticParams.bitConfig = |
218 | staticParams.bitConfig = |
218 | CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED; |
219 | CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED; |
219 | 220 | ||
220 | memcpy(staticParams.name, "Default\0", 6); |
221 | memcpy(staticParams.name, "Default\0", 6); |
221 | } |
222 | } |
- | 223 | ||
- | 224 | void IMUConfig_default(void) { |
|
- | 225 | IMUConfig.gyroPIDFilterConstant = 1; |
|
- | 226 | IMUConfig.gyroDFilterConstant = 1; |
|
- | 227 | IMUConfig.accFilterConstant = 10; |
|
- | 228 | IMUConfig.rateTolerance = 120; |
|
- | 229 | IMUConfig.yawRateFactor = 4; |
|
- | 230 | ||
- | 231 | gyro_setDefaultParameters(); |
|
- | 232 | } |
|
222 | 233 | ||
223 | /***************************************************/ |
234 | /***************************************************/ |
224 | /* Default Values for Mixer Table */ |
235 | /* Default Values for Mixer Table */ |
225 | /***************************************************/ |
236 | /***************************************************/ |
226 | void mixerMatrix_default(void) { // Quadro |
237 | void mixerMatrix_default(void) { // Quadro |
227 | uint8_t i; |
238 | uint8_t i; |
228 | // mixerMatric.revision = EEMIXER_REVISION; |
239 | // mixerMatric.revision = EEMIXER_REVISION; |
229 | // clear mixer table (but preset throttle) |
240 | // clear mixer table (but preset throttle) |
230 | for (i = 0; i < 16; i++) { |
241 | for (i = 0; i < 16; i++) { |
231 | mixerMatrix.motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
242 | mixerMatrix.motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
232 | mixerMatrix.motor[i][MIX_PITCH] = 0; |
243 | mixerMatrix.motor[i][MIX_PITCH] = 0; |
233 | mixerMatrix.motor[i][MIX_ROLL] = 0; |
244 | mixerMatrix.motor[i][MIX_ROLL] = 0; |
234 | mixerMatrix.motor[i][MIX_YAW] = 0; |
245 | mixerMatrix.motor[i][MIX_YAW] = 0; |
235 | } |
246 | } |
236 | // default = Quadro |
247 | // default = Quadro |
237 | mixerMatrix.motor[0][MIX_PITCH] = +64; |
248 | mixerMatrix.motor[0][MIX_PITCH] = +64; |
238 | mixerMatrix.motor[0][MIX_YAW] = +64; |
249 | mixerMatrix.motor[0][MIX_YAW] = +64; |
239 | mixerMatrix.motor[1][MIX_PITCH] = -64; |
250 | mixerMatrix.motor[1][MIX_PITCH] = -64; |
240 | mixerMatrix.motor[1][MIX_YAW] = +64; |
251 | mixerMatrix.motor[1][MIX_YAW] = +64; |
241 | mixerMatrix.motor[2][MIX_ROLL] = -64; |
252 | mixerMatrix.motor[2][MIX_ROLL] = -64; |
242 | mixerMatrix.motor[2][MIX_YAW] = -64; |
253 | mixerMatrix.motor[2][MIX_YAW] = -64; |
243 | mixerMatrix.motor[3][MIX_ROLL] = +64; |
254 | mixerMatrix.motor[3][MIX_ROLL] = +64; |
244 | mixerMatrix.motor[3][MIX_YAW] = -64; |
255 | mixerMatrix.motor[3][MIX_YAW] = -64; |
245 | memcpy(mixerMatrix.name, "Quadro\0", 7); |
256 | memcpy(mixerMatrix.name, "Quadro\0", 7); |
246 | 257 | ||
247 | /* |
258 | /* |
248 | // default = X |
259 | // default = X |
249 | mixerMatrix.motor[0][MIX_PITCH] = +45; |
260 | mixerMatrix.motor[0][MIX_PITCH] = +45; |
250 | mixerMatrix.motor[0][MIX_ROLL] = +45; |
261 | mixerMatrix.motor[0][MIX_ROLL] = +45; |
251 | mixerMatrix.motor[0][MIX_YAW] = +64; |
262 | mixerMatrix.motor[0][MIX_YAW] = +64; |
252 | 263 | ||
253 | mixerMatrix.motor[1][MIX_PITCH] = -45; |
264 | mixerMatrix.motor[1][MIX_PITCH] = -45; |
254 | mixerMatrix.motor[1][MIX_ROLL] = -45; |
265 | mixerMatrix.motor[1][MIX_ROLL] = -45; |
255 | mixerMatrix.motor[1][MIX_YAW] = +64; |
266 | mixerMatrix.motor[1][MIX_YAW] = +64; |
256 | 267 | ||
257 | mixerMatrix.motor[2][MIX_PITCH] = +45; |
268 | mixerMatrix.motor[2][MIX_PITCH] = +45; |
258 | mixerMatrix.motor[2][MIX_ROLL] = -45; |
269 | mixerMatrix.motor[2][MIX_ROLL] = -45; |
259 | mixerMatrix.motor[2][MIX_YAW] = -64; |
270 | mixerMatrix.motor[2][MIX_YAW] = -64; |
260 | 271 | ||
261 | mixerMatrix.motor[3][MIX_PITCH] = -45; |
272 | mixerMatrix.motor[3][MIX_PITCH] = -45; |
262 | mixerMatrix.motor[3][MIX_ROLL] = +45; |
273 | mixerMatrix.motor[3][MIX_ROLL] = +45; |
263 | mixerMatrix.motor[3][MIX_YAW] = -64; |
274 | mixerMatrix.motor[3][MIX_YAW] = -64; |
264 | */ |
275 | */ |
265 | 276 | ||
266 | memcpy(mixerMatrix.name, "X\0", 7); |
277 | memcpy(mixerMatrix.name, "X\0", 7); |
267 | } |
278 | } |
268 | 279 | ||
269 | /***************************************************/ |
280 | /***************************************************/ |
270 | /* Default Values for R/C Channels */ |
281 | /* Default Values for R/C Channels */ |
271 | /***************************************************/ |
282 | /***************************************************/ |
272 | void channelMap_default(void) { |
283 | void channelMap_default(void) { |
273 | channelMap.channels[CH_PITCH] = 1; |
284 | channelMap.channels[CH_PITCH] = 1; |
274 | channelMap.channels[CH_ROLL] = 0; |
285 | channelMap.channels[CH_ROLL] = 0; |
275 | channelMap.channels[CH_THROTTLE] = 2; |
286 | channelMap.channels[CH_THROTTLE] = 2; |
276 | channelMap.channels[CH_YAW] = 3; |
287 | channelMap.channels[CH_YAW] = 3; |
277 | channelMap.channels[CH_POTS + 0] = 4; |
288 | channelMap.channels[CH_POTS + 0] = 4; |
278 | channelMap.channels[CH_POTS + 1] = 5; |
289 | channelMap.channels[CH_POTS + 1] = 5; |
279 | channelMap.channels[CH_POTS + 2] = 6; |
290 | channelMap.channels[CH_POTS + 2] = 6; |
280 | channelMap.channels[CH_POTS + 3] = 7; |
291 | channelMap.channels[CH_POTS + 3] = 7; |
281 | } |
292 | } |
282 | 293 |