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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 | MotorMixer_t motorMixer; |
13 | MotorMixer_t motorMixer; |
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 | // MK flags. TODO: Replace by enum. State machine. |
23 | // MK flags. TODO: Replace by enum. State machine. |
24 | uint16_t isFlying = 0; |
24 | uint16_t isFlying = 0; |
25 | volatile uint8_t MKFlags = 0; |
25 | volatile uint8_t MKFlags = 0; |
26 | 26 | ||
27 | const MMXLATION XLATIONS[] = { |
27 | const MMXLATION XLATIONS[] = { |
28 | {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}, |
29 | {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}, |
30 | {offsetof(ParamSet_t, gyroP), offsetof(DynamicParams_t, gyroP),0,255}, |
30 | {offsetof(ParamSet_t, gyroP), offsetof(DynamicParams_t, gyroP),0,255}, |
31 | {offsetof(ParamSet_t, gyroI), offsetof(DynamicParams_t, gyroI),0,255}, |
31 | {offsetof(ParamSet_t, gyroI), offsetof(DynamicParams_t, gyroI),0,255}, |
32 | {offsetof(ParamSet_t, gyroD), offsetof(DynamicParams_t, gyroD),0,255}, |
32 | {offsetof(ParamSet_t, gyroD), offsetof(DynamicParams_t, gyroD),0,255}, |
33 | {offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255}, |
33 | {offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255}, |
34 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
34 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
35 | {offsetof(ParamSet_t, dynamicStability), offsetof(DynamicParams_t, dynamicStability),0,255}, |
35 | {offsetof(ParamSet_t, dynamicStability), offsetof(DynamicParams_t, dynamicStability),0,255}, |
36 | {offsetof(ParamSet_t, heightP), offsetof(DynamicParams_t, heightP),0,255}, |
36 | {offsetof(ParamSet_t, heightP), offsetof(DynamicParams_t, heightP),0,255}, |
37 | {offsetof(ParamSet_t, heightI), offsetof(DynamicParams_t, heightI),0,255}, |
37 | {offsetof(ParamSet_t, heightI), offsetof(DynamicParams_t, heightI),0,255}, |
38 | {offsetof(ParamSet_t, heightD), offsetof(DynamicParams_t, heightD),0,255}, |
38 | {offsetof(ParamSet_t, heightD), offsetof(DynamicParams_t, heightD),0,255}, |
39 | {offsetof(ParamSet_t, heightSetting), offsetof(DynamicParams_t, heightSetting),0,255}, |
39 | {offsetof(ParamSet_t, heightSetting), offsetof(DynamicParams_t, heightSetting),0,255}, |
40 | {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}, |
41 | {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}, |
42 | {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}, |
43 | {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}, |
44 | {offsetof(ParamSet_t, naviMode), offsetof(DynamicParams_t, naviMode),0,255}}; |
44 | {offsetof(ParamSet_t, naviMode), offsetof(DynamicParams_t, naviMode),0,255}}; |
45 | 45 | ||
46 | 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) { |
47 | uint8_t result; |
47 | uint8_t result; |
48 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
48 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
49 | else result = src; |
49 | else result = src; |
50 | if (result < min) result = min; |
50 | if (result < min) result = min; |
51 | else if (result > max) result = max; |
51 | else if (result > max) result = max; |
52 | return result; |
52 | return result; |
53 | } |
53 | } |
54 | 54 | ||
55 | void configuration_applyVariablesToParams(void) { |
55 | void configuration_applyVariablesToParams(void) { |
56 | uint8_t i, src; |
56 | uint8_t i, src; |
57 | uint8_t* pointerToTgt; |
57 | uint8_t* pointerToTgt; |
58 | 58 | ||
59 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
59 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
60 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
60 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
61 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
61 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
62 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
62 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
63 | } |
63 | } |
64 | 64 | ||
65 | // User parameters are always variable. |
65 | // User parameters are always variable. |
66 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
66 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
67 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
67 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
68 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
68 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
69 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
69 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
70 | } |
70 | } |
71 | } |
71 | } |
72 | 72 | ||
73 | 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 |
74 | 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 |
75 | else CPUType = ATMEGA644; |
75 | else CPUType = ATMEGA644; |
76 | } |
76 | } |
77 | 77 | ||
78 | /* |
78 | /* |
79 | * 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 |
80 | * 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 |
81 | * configurations with otherwise unsupported components. Instead, one should write |
81 | * configurations with otherwise unsupported components. Instead, one should write |
82 | * 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 |
83 | * from the makefile. |
83 | * from the makefile. |
84 | * 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 |
85 | * 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 |
86 | * on different HW version.... |
86 | * on different HW version.... |
87 | */ |
87 | */ |
88 | void setBoardRelease(void) { |
88 | void setBoardRelease(void) { |
89 | // 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 |
90 | 90 | ||
91 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
91 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
92 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
92 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
93 | 93 | ||
94 | _delay_loop_2(1000); // make some delay |
94 | _delay_loop_2(1000); // make some delay |
95 | 95 | ||
96 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
96 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
97 | case 0x00: |
97 | case 0x00: |
98 | boardRelease = 10; // 1.0 |
98 | boardRelease = 10; // 1.0 |
99 | break; |
99 | break; |
100 | case 0x01: |
100 | case 0x01: |
101 | boardRelease = 11; // 1.1 or 1.2 |
101 | boardRelease = 11; // 1.1 or 1.2 |
102 | break; |
102 | break; |
103 | case 0x02: |
103 | case 0x02: |
104 | boardRelease = 20; // 2.0 |
104 | boardRelease = 20; // 2.0 |
105 | break; |
105 | break; |
106 | case 0x03: |
106 | case 0x03: |
107 | boardRelease = 13; // 1.3 |
107 | boardRelease = 13; // 1.3 |
108 | break; |
108 | break; |
109 | default: |
109 | default: |
110 | break; |
110 | break; |
111 | } |
111 | } |
112 | // set LED ports as output |
112 | // set LED ports as output |
113 | DDRB |= (1<<DDB1)|(1<<DDB0); |
113 | DDRB |= (1<<DDB1)|(1<<DDB0); |
114 | RED_OFF; |
114 | RED_OFF; |
115 | GRN_OFF; |
115 | GRN_OFF; |
116 | } |
116 | } |
117 | 117 | ||
118 | void configuration_setNormalFlightParameters(void) { |
118 | void configuration_setNormalFlightParameters(void) { |
119 | flight_setParameters(staticParams.IFactor, dynamicParams.gyroP, |
119 | flight_setParameters(staticParams.IFactor, dynamicParams.gyroP, |
120 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
120 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
121 | dynamicParams.gyroP, staticParams.yawIFactor); |
121 | dynamicParams.gyroP, staticParams.yawIFactor); |
122 | } |
122 | } |
123 | 123 | ||
124 | void configuration_setFailsafeFlightParameters(void) { |
124 | void configuration_setFailsafeFlightParameters(void) { |
125 | flight_setParameters(0, 90, 120, 90, 120); |
125 | flight_setParameters(0, 90, 120, 90, 120); |
126 | } |
126 | } |
127 | 127 | ||
128 | // 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. |
129 | void configuration_paramSetDidChange(void) { |
129 | void configuration_paramSetDidChange(void) { |
130 | // 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. |
131 | configuration_setNormalFlightParameters(); |
131 | configuration_setNormalFlightParameters(); |
132 | // Immediately load changes to output, and also signal the paramset change. |
132 | // Immediately load changes to output, and also signal the paramset change. |
133 | output_init(); |
133 | output_init(); |
134 | } |
134 | } |
135 | 135 | ||
136 | void setOtherDefaults(void) { |
136 | void setOtherDefaults(void) { |
137 | // Height Control |
137 | // Height Control |
138 | staticParams.airpressureFilterConstant = 8; |
138 | staticParams.airpressureFilterConstant = 8; |
139 | //staticParams.airpressureWindowLength = 0; |
139 | //staticParams.airpressureWindowLength = 0; |
140 | staticParams.airpressureAccZCorrection = 128+56; |
140 | staticParams.airpressureAccZCorrection = 128+56; |
141 | staticParams.heightP = 10; |
141 | staticParams.heightP = 10; |
142 | staticParams.heightD = 30; |
142 | staticParams.heightD = 30; |
143 | staticParams.heightSetting = 251; |
143 | staticParams.heightSetting = 251; |
144 | staticParams.heightControlMaxThrottleChange = 10; |
144 | staticParams.heightControlMaxThrottleChange = 10; |
145 | 145 | ||
146 | // Control |
146 | // Control |
147 | staticParams.stickP = 8; |
147 | staticParams.stickP = 8; |
148 | staticParams.stickD = 12; |
148 | staticParams.stickD = 12; |
149 | staticParams.stickYawP = 12; |
149 | staticParams.stickYawP = 12; |
150 | staticParams.stickThrottleD = 12; |
150 | staticParams.stickThrottleD = 12; |
151 | staticParams.minThrottle = 8; |
151 | staticParams.minThrottle = 8; |
152 | staticParams.maxThrottle = 230; |
152 | staticParams.maxThrottle = 230; |
153 | staticParams.externalControl = 0; |
153 | staticParams.externalControl = 0; |
154 | staticParams.attitudeControl = 0; |
154 | staticParams.attitudeControl = 0; |
155 | staticParams.motorSmoothing = 0; |
155 | staticParams.motorSmoothing = 0; |
156 | 156 | ||
157 | staticParams.gyroP = 60; |
157 | staticParams.gyroP = 60; |
158 | staticParams.gyroI = 80; |
158 | staticParams.gyroI = 80; |
159 | staticParams.gyroD = 4; |
159 | staticParams.gyroD = 4; |
160 | 160 | ||
161 | // set by gyro-specific code: gyro_setDefaults(). |
161 | // set by gyro-specific code: gyro_setDefaults(). |
162 | // staticParams.zerothOrderCorrection = |
162 | // staticParams.zerothOrderCorrection = |
163 | // staticParams.driftCompDivider = |
163 | // staticParams.driftCompDivider = |
164 | // staticParams.driftCompLimit = |
164 | // staticParams.driftCompLimit = |
165 | 165 | ||
166 | staticParams.dynamicStability = 50; |
166 | staticParams.dynamicStability = 50; |
167 | staticParams.IFactor = 52; |
167 | staticParams.IFactor = 52; |
168 | staticParams.yawIFactor = 100; |
168 | staticParams.yawIFactor = 100; |
169 | staticParams.compassYawCorrection = 64; |
169 | staticParams.compassYawCorrection = 64; |
170 | staticParams.compassP = 50; |
170 | staticParams.compassP = 50; |
171 | staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
171 | staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
172 | 172 | ||
173 | // Servos |
173 | // Servos |
174 | staticParams.servoCount = 7; |
174 | staticParams.servoCount = 7; |
175 | staticParams.servoManualMaxSpeed = 10; |
175 | staticParams.servoManualMaxSpeed = 10; |
176 | for (uint8_t i=0; i<2; i++) { |
176 | for (uint8_t i=0; i<2; i++) { |
177 | staticParams.servoConfigurations[i].manualControl = 128; |
177 | staticParams.servoConfigurations[i].manualControl = 128; |
178 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
178 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
179 | staticParams.servoConfigurations[i].minValue = 32; |
179 | staticParams.servoConfigurations[i].minValue = 32; |
180 | staticParams.servoConfigurations[i].maxValue = 224; |
180 | staticParams.servoConfigurations[i].maxValue = 224; |
181 | staticParams.servoConfigurations[i].flags = 0; |
181 | staticParams.servoConfigurations[i].flags = 0; |
182 | } |
182 | } |
183 | 183 | ||
184 | // Battery warning and emergency flight |
184 | // Battery warning and emergency flight |
185 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
185 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
186 | staticParams.emergencyThrottle = 35; |
186 | staticParams.emergencyThrottle = 35; |
187 | staticParams.emergencyFlightDuration = 30; |
187 | staticParams.emergencyFlightDuration = 30; |
188 | 188 | ||
189 | // Outputs |
189 | // Outputs |
190 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
190 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
191 | staticParams.outputFlash[0].timing = 15; |
191 | staticParams.outputFlash[0].timing = 15; |
192 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
192 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
193 | staticParams.outputFlash[1].timing = 15; |
193 | staticParams.outputFlash[1].timing = 15; |
194 | 194 | ||
195 | staticParams.outputDebugMask = DEBUG_ACC0THORDER; |
195 | staticParams.outputDebugMask = DEBUG_ACC0THORDER; |
196 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
196 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
197 | 197 | ||
198 | staticParams.naviMode = 0; // free. |
198 | staticParams.naviMode = 0; // free. |
199 | staticParams.airpressureWindowLength = 0; |
199 | staticParams.airpressureWindowLength = 0; |
200 | staticParams.airpressureDWindowLength = 24; |
200 | staticParams.airpressureDWindowLength = 24; |
201 | 201 | ||
202 | staticParams.heightControlMaxIntegralIn = 125; |
202 | staticParams.heightControlMaxIntegralIn = 125; |
203 | staticParams.heightControlMaxIntegralOut = 75; |
203 | staticParams.heightControlMaxIntegralOut = 75; |
204 | staticParams.heightControlMaxThrottleChange = 75; |
204 | staticParams.heightControlMaxThrottleChange = 75; |
205 | staticParams.heightControlTestOscPeriod = 0; |
205 | staticParams.heightControlTestOscPeriod = 0; |
206 | staticParams.heightControlTestOscAmplitude = 0; |
206 | staticParams.heightControlTestOscAmplitude = 0; |
207 | } |
207 | } |
208 | 208 | ||
209 | /***************************************************/ |
209 | /***************************************************/ |
210 | /* Default Values for parameter set 1 */ |
210 | /* Default Values for parameter set 1 */ |
211 | /***************************************************/ |
211 | /***************************************************/ |
212 | void paramSet_default(uint8_t setnumber) { |
212 | void paramSet_default(uint8_t setnumber) { |
213 | setOtherDefaults(); |
213 | setOtherDefaults(); |
214 | 214 | ||
215 | for (uint8_t i=0; i<8; i++) { |
215 | for (uint8_t i=0; i<8; i++) { |
216 | staticParams.userParams[i] = i; |
216 | staticParams.userParams[i] = i; |
217 | } |
217 | } |
218 | 218 | ||
219 | staticParams.bitConfig = CFG_GYRO_SATURATION_PREVENTION; |
219 | staticParams.bitConfig = CFG_GYRO_SATURATION_PREVENTION; |
220 | 220 | ||
221 | memcpy(staticParams.name, "Default\0", 6); |
221 | memcpy(staticParams.name, "Default\0", 6); |
222 | } |
222 | } |
223 | 223 | ||
224 | void IMUConfig_default(void) { |
224 | void IMUConfig_default(void) { |
225 | IMUConfig.gyroPIDFilterConstant = 1; |
225 | IMUConfig.gyroPIDFilterConstant = 1; |
226 | IMUConfig.gyroDWindowLength = 3; |
226 | IMUConfig.gyroDWindowLength = 3; |
227 | // IMUConfig.gyroDFilterConstant = 1; |
227 | // IMUConfig.gyroDFilterConstant = 1; |
228 | IMUConfig.accFilterConstant = 10; |
228 | IMUConfig.accFilterConstant = 10; |
229 | IMUConfig.rateTolerance = 120; |
229 | IMUConfig.rateTolerance = 120; |
230 | IMUConfig.gyroActivityDamping = 24; |
230 | IMUConfig.gyroActivityDamping = 24; |
231 | 231 | ||
232 | gyro_setDefaultParameters(); |
232 | gyro_setDefaultParameters(); |
233 | } |
233 | } |
234 | 234 | ||
235 | /***************************************************/ |
235 | /***************************************************/ |
236 | /* Default Values for Mixer Table */ |
236 | /* Default Values for Mixer Table */ |
237 | /***************************************************/ |
237 | /***************************************************/ |
238 | void motorMixer_default(void) { // Quadro |
238 | void motorMixer_default(void) { // Quadro |
239 | uint8_t i; |
239 | uint8_t i; |
240 | // clear mixer table (but preset throttle) |
240 | // clear mixer table (but preset throttle) |
241 | for (i = 0; i < MAX_MOTORS; i++) { |
241 | for (i = 0; i < MAX_MOTORS; i++) { |
242 | motorMixer.matrix[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
242 | motorMixer.matrix[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
243 | motorMixer.matrix[i][MIX_PITCH] = 0; |
243 | motorMixer.matrix[i][MIX_PITCH] = 0; |
244 | motorMixer.matrix[i][MIX_ROLL] = 0; |
244 | motorMixer.matrix[i][MIX_ROLL] = 0; |
245 | motorMixer.matrix[i][MIX_YAW] = 0; |
245 | motorMixer.matrix[i][MIX_YAW] = 0; |
- | 246 | motorMixer.matrix[i][MIX_OPPOSITE_MOTOR] = (uint8_t)-1; |
|
246 | } |
247 | } |
247 | // default = Quadro |
248 | // default = Quadro |
248 | motorMixer.matrix[0][MIX_PITCH] = +64; |
249 | motorMixer.matrix[0][MIX_PITCH] = +64; |
249 | motorMixer.matrix[0][MIX_YAW] = +64; |
250 | motorMixer.matrix[0][MIX_YAW] = +64; |
250 | motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1; |
251 | motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1; |
251 | 252 | ||
252 | motorMixer.matrix[1][MIX_PITCH] = -64; |
253 | motorMixer.matrix[1][MIX_PITCH] = -64; |
253 | motorMixer.matrix[1][MIX_YAW] = +64; |
254 | motorMixer.matrix[1][MIX_YAW] = +64; |
254 | motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0; |
255 | motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0; |
255 | 256 | ||
256 | motorMixer.matrix[2][MIX_ROLL] = -64; |
257 | motorMixer.matrix[2][MIX_ROLL] = -64; |
257 | motorMixer.matrix[2][MIX_YAW] = -64; |
258 | motorMixer.matrix[2][MIX_YAW] = -64; |
258 | motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3; |
259 | motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3; |
259 | 260 | ||
260 | motorMixer.matrix[3][MIX_ROLL] = +64; |
261 | motorMixer.matrix[3][MIX_ROLL] = +64; |
261 | motorMixer.matrix[3][MIX_YAW] = -64; |
262 | motorMixer.matrix[3][MIX_YAW] = -64; |
262 | motorMixer.matrix[3][MIX_OPPOSITE_MOTOR] = 2; |
263 | motorMixer.matrix[3][MIX_OPPOSITE_MOTOR] = 2; |
263 | 264 | ||
264 | memcpy(motorMixer.name, "Quadro +\0", 9); |
265 | memcpy(motorMixer.name, "Quadro +\0", 9); |
265 | 266 | ||
266 | /* |
267 | /* |
267 | // default = X |
268 | // default = X |
268 | mixerMatrix.motor[0][MIX_PITCH] = +45; |
269 | mixerMatrix.motor[0][MIX_PITCH] = +45; |
269 | mixerMatrix.motor[0][MIX_ROLL] = +45; |
270 | mixerMatrix.motor[0][MIX_ROLL] = +45; |
270 | mixerMatrix.motor[0][MIX_YAW] = +64; |
271 | mixerMatrix.motor[0][MIX_YAW] = +64; |
271 | 272 | ||
272 | mixerMatrix.motor[1][MIX_PITCH] = -45; |
273 | mixerMatrix.motor[1][MIX_PITCH] = -45; |
273 | mixerMatrix.motor[1][MIX_ROLL] = -45; |
274 | mixerMatrix.motor[1][MIX_ROLL] = -45; |
274 | mixerMatrix.motor[1][MIX_YAW] = +64; |
275 | mixerMatrix.motor[1][MIX_YAW] = +64; |
275 | 276 | ||
276 | mixerMatrix.motor[2][MIX_PITCH] = +45; |
277 | mixerMatrix.motor[2][MIX_PITCH] = +45; |
277 | mixerMatrix.motor[2][MIX_ROLL] = -45; |
278 | mixerMatrix.motor[2][MIX_ROLL] = -45; |
278 | mixerMatrix.motor[2][MIX_YAW] = -64; |
279 | mixerMatrix.motor[2][MIX_YAW] = -64; |
279 | 280 | ||
280 | mixerMatrix.motor[3][MIX_PITCH] = -45; |
281 | mixerMatrix.motor[3][MIX_PITCH] = -45; |
281 | mixerMatrix.motor[3][MIX_ROLL] = +45; |
282 | mixerMatrix.motor[3][MIX_ROLL] = +45; |
282 | mixerMatrix.motor[3][MIX_YAW] = -64; |
283 | mixerMatrix.motor[3][MIX_YAW] = -64; |
283 | 284 | ||
284 | memcpy(motorMixer.name, "Quadro X\0", 9); |
285 | memcpy(motorMixer.name, "Quadro X\0", 9); |
285 | */ |
286 | */ |
286 | } |
287 | } |
287 | 288 | ||
288 | /***************************************************/ |
289 | /***************************************************/ |
289 | /* Default Values for R/C Channels */ |
290 | /* Default Values for R/C Channels */ |
290 | /***************************************************/ |
291 | /***************************************************/ |
291 | void channelMap_default(void) { |
292 | void channelMap_default(void) { |
292 | channelMap.channels[CH_PITCH] = 1; |
293 | channelMap.channels[CH_PITCH] = 1; |
293 | channelMap.channels[CH_ROLL] = 0; |
294 | channelMap.channels[CH_ROLL] = 0; |
294 | channelMap.channels[CH_THROTTLE] = 2; |
295 | channelMap.channels[CH_THROTTLE] = 2; |
295 | channelMap.channels[CH_YAW] = 3; |
296 | channelMap.channels[CH_YAW] = 3; |
296 | channelMap.channels[CH_POTS + 0] = 4; |
297 | channelMap.channels[CH_POTS + 0] = 4; |
297 | channelMap.channels[CH_POTS + 1] = 5; |
298 | channelMap.channels[CH_POTS + 1] = 5; |
298 | channelMap.channels[CH_POTS + 2] = 6; |
299 | channelMap.channels[CH_POTS + 2] = 6; |
299 | channelMap.channels[CH_POTS + 3] = 7; |
300 | channelMap.channels[CH_POTS + 3] = 7; |
300 | } |
301 | } |
301 | 302 |