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8 | #include "flight.h" |
8 | #include "flight.h" |
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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 | IMUConfig_t IMUConfig; |
14 | IMUConfig_t IMUConfig; |
Line 14... | Line 15... | ||
14 | volatile DynamicParams_t dynamicParams; |
15 | volatile DynamicParams_t dynamicParams; |
15 | 16 | ||
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151 | 152 | ||
152 | // Battery warning and emergency flight |
153 | // Battery warning and emergency flight |
Line 153... | Line 154... | ||
153 | staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
154 | staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
154 | 155 | ||
155 | for (uint8_t i=0; i<3; i++) { |
156 | for (uint8_t i=0; i<3; i++) { |
156 | staticParams.gyroPID[i].P = 80; |
157 | staticParams.gyroPID[i].P = 200; |
157 | staticParams.gyroPID[i].I = 80; |
158 | staticParams.gyroPID[i].I = 80; |
158 | staticParams.gyroPID[i].D = 40; |
159 | staticParams.gyroPID[i].D = 40; |
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202 | /***************************************************/ |
203 | /***************************************************/ |
203 | /* Default Values for R/C Channels */ |
204 | /* Default Values for R/C Channels */ |
204 | /***************************************************/ |
205 | /***************************************************/ |
205 | void channelMap_default(void) { |
206 | void channelMap_default(void) { |
206 | channelMap.RCPolarity = 1; |
207 | channelMap.RCPolarity = 1; |
207 | channelMap.trim = 192; |
208 | channelMap.HWTrim = 192; |
208 | channelMap.variableOffset = 128; |
209 | channelMap.variableOffset = 128; |
209 | channelMap.channels[CH_ELEVATOR] = 1; |
210 | channelMap.channels[CH_ELEVATOR] = 1; |
210 | channelMap.channels[CH_AILERONS] = 0; |
211 | channelMap.channels[CH_AILERONS] = 0; |
211 | channelMap.channels[CH_THROTTLE] = 2; |
212 | channelMap.channels[CH_THROTTLE] = 2; |
212 | channelMap.channels[CH_RUDDER] = 3; |
213 | channelMap.channels[CH_RUDDER] = 3; |