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Rev 1971 | Rev 1977 | ||
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Line 53... | Line 53... | ||
53 | #include <stddef.h> |
53 | #include <stddef.h> |
54 | #include <string.h> |
54 | #include <string.h> |
55 | #include "configuration.h" |
55 | #include "configuration.h" |
56 | #include "sensors.h" |
56 | #include "sensors.h" |
57 | #include "rc.h" |
57 | #include "rc.h" |
- | 58 | #include "uart0.h" |
|
- | 59 | ||
58 | int16_t variables[VARIABLE_COUNT]; |
60 | int16_t variables[VARIABLE_COUNT]; |
59 | paramset_t staticParams; |
61 | paramset_t staticParams; |
60 | channelMap_t channelMap; |
62 | channelMap_t channelMap; |
61 | mixerMatrix_t mixerMatrix; |
63 | mixerMatrix_t mixerMatrix; |
62 | volatile dynamicParam_t dynamicParams; |
64 | volatile dynamicParam_t dynamicParams; |
Line 93... | Line 95... | ||
93 | SET_POT(dynamicParams.maxControlActivityForAcc,staticParams.maxControlActivityForAcc); |
95 | SET_POT(dynamicParams.maxControlActivityForAcc,staticParams.maxControlActivityForAcc); |
Line 94... | Line 96... | ||
94 | 96 | ||
95 | SET_POT_MM(dynamicParams.heightP, staticParams.heightP,0,100); |
97 | SET_POT_MM(dynamicParams.heightP, staticParams.heightP,0,100); |
96 | SET_POT_MM(dynamicParams.heightD, staticParams.heightD,0,100); |
98 | SET_POT_MM(dynamicParams.heightD, staticParams.heightD,0,100); |
97 | SET_POT(dynamicParams.heightSetting,staticParams.heightSetting); |
- | |
98 | SET_POT(dynamicParams.heightACCEffect,staticParams.heightACCEffect); |
99 | SET_POT(dynamicParams.heightSetting,staticParams.heightSetting); |
Line 99... | Line 100... | ||
99 | SET_POT(dynamicParams.attitudeControl,staticParams.attitudeControl); |
100 | SET_POT(dynamicParams.attitudeControl,staticParams.attitudeControl); |
100 | 101 | ||
101 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
102 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
Line 222... | Line 223... | ||
222 | 223 | ||
223 | // IMU |
224 | // IMU |
224 | staticParams.gyroPIDFilterConstant = 1; |
225 | staticParams.gyroPIDFilterConstant = 1; |
225 | staticParams.gyroATTFilterConstant = 1; |
226 | staticParams.gyroATTFilterConstant = 1; |
226 | staticParams.gyroDFilterConstant = 1; |
227 | staticParams.gyroDFilterConstant = 1; |
Line 227... | Line 228... | ||
227 | staticParams.accFilterConstant = 4; |
228 | staticParams.accFilterConstant = 10; |
228 | 229 | ||
229 | staticParams.gyroP = 60; |
230 | staticParams.gyroP = 60; |
Line 238... | Line 239... | ||
238 | staticParams.axisCoupling1 = 90; |
239 | staticParams.axisCoupling1 = 90; |
239 | staticParams.axisCoupling2 = 67; |
240 | staticParams.axisCoupling2 = 67; |
240 | staticParams.axisCouplingYawCorrection = 0; |
241 | staticParams.axisCouplingYawCorrection = 0; |
241 | staticParams.dynamicStability = 50; |
242 | staticParams.dynamicStability = 50; |
242 | staticParams.IFactor = 32; |
243 | staticParams.IFactor = 32; |
- | 244 | staticParams.yawIFactor = 100; |
|
243 | staticParams.compassYawEffect = 128; |
245 | staticParams.compassYawEffect = 128; |
Line 244... | Line 246... | ||
244 | 246 | ||
245 | // Servos |
247 | // Servos |
246 | for (uint8_t i=0; i<2; i++) { |
248 | for (uint8_t i=0; i<2; i++) { |
- | 249 | staticParams.servoConfigurations[i].manualControl = 128; |
|
247 | staticParams.servoConfigurations[i].manualControl = 128; |
250 | staticParams.servoConfigurations[i].manualMaxSpeed = 10; |
248 | staticParams.servoConfigurations[i].compensationFactor = 0; |
251 | staticParams.servoConfigurations[i].compensationFactor = 100; |
249 | staticParams.servoConfigurations[i].minValue = 64; |
252 | staticParams.servoConfigurations[i].minValue = 32; |
250 | staticParams.servoConfigurations[i].maxValue = 192; |
253 | staticParams.servoConfigurations[i].maxValue = 224; |
251 | staticParams.servoConfigurations[i].flags = 0; |
254 | staticParams.servoConfigurations[i].flags = 0; |
252 | } |
255 | } |
Line 253... | Line 256... | ||
253 | staticParams.servoCount = 4; |
256 | staticParams.servoCount = 7; |
254 | 257 | ||
255 | // Battery warning and emergency flight |
258 | // Battery warning and emergency flight |
256 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
259 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |