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Rev 1646 | Rev 1775 | ||
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Line 93... | Line 93... | ||
93 | } |
93 | } |
94 | /* |
94 | /* |
95 | * While we are still using userparams for flight parameters, do set |
95 | * While we are still using userparams for flight parameters, do set |
96 | * some safe & meaningful default values. |
96 | * some safe & meaningful default values. |
97 | */ |
97 | */ |
98 | staticParams.UserParams1[3] = 10; // Throttle stick D=10 |
98 | staticParams.UserParams1[3] = 8; // Throttle stick D=8 |
99 | staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4 |
99 | staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4 |
100 | staticParams.UserParams2[1] = 2; // H&I motor smoothing. |
100 | staticParams.UserParams2[1] = 2; // H&I motor smoothing. |
101 | staticParams.UserParams2[2] = 120; // Yaw I factor |
101 | staticParams.UserParams2[2] = 120; // Yaw I factor |
102 | staticParams.UserParams2[3] = 100; // Max Z acceleration for acc. correction of angles. |
102 | staticParams.UserParams2[3] = 10; // Max Z acceleration for acc. correction of angles. |
103 | } |
103 | } |
Line 104... | Line 104... | ||
104 | 104 | ||
105 | void setOtherDefaults(void) { |
105 | void setOtherDefaults(void) { |
106 | /* Channel assignments were changed to the normal: |
106 | /* Channel assignments were changed to the normal: |
Line 112... | Line 112... | ||
112 | staticParams.ChannelAssignment[CH_YAW] = 4; |
112 | staticParams.ChannelAssignment[CH_YAW] = 4; |
113 | staticParams.ChannelAssignment[CH_POTS+0] = 5; |
113 | staticParams.ChannelAssignment[CH_POTS+0] = 5; |
114 | staticParams.ChannelAssignment[CH_POTS+1] = 6; |
114 | staticParams.ChannelAssignment[CH_POTS+1] = 6; |
115 | staticParams.ChannelAssignment[CH_POTS+2] = 7; |
115 | staticParams.ChannelAssignment[CH_POTS+2] = 7; |
116 | staticParams.ChannelAssignment[CH_POTS+3] = 8; |
116 | staticParams.ChannelAssignment[CH_POTS+3] = 8; |
117 | staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
117 | staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
118 | staticParams.HeightMinGas = 30; |
118 | staticParams.HeightMinGas = 30; |
119 | staticParams.MaxHeight = 251; |
119 | staticParams.MaxHeight = 251; |
120 | staticParams.HeightP = 10; |
120 | staticParams.HeightP = 10; |
121 | staticParams.HeightD = 30; |
121 | staticParams.HeightD = 30; |
122 | staticParams.Height_ACC_Effect = 30; |
122 | staticParams.Height_ACC_Effect = 30; |
123 | staticParams.Height_Gain = 4; |
123 | staticParams.Height_Gain = 4; |
124 | staticParams.StickP = 12; |
124 | staticParams.StickP = 8; |
125 | staticParams.StickD = 16; |
125 | staticParams.StickD = 12; |
126 | staticParams.StickYawP = 12; |
126 | staticParams.StickYawP = 12; |
127 | staticParams.MinThrottle = 8; |
127 | staticParams.MinThrottle = 8; |
128 | staticParams.MaxThrottle = 230; |
128 | staticParams.MaxThrottle = 230; |
129 | staticParams.CompassYawEffect = 128; |
129 | staticParams.CompassYawEffect = 128; |
130 | staticParams.GyroP = 80; |
130 | staticParams.GyroP = 80; |
131 | staticParams.GyroI = 100; |
131 | staticParams.GyroI = 100; |
132 | staticParams.LowVoltageWarning = 94; |
132 | staticParams.LowVoltageWarning = 95; |
133 | staticParams.EmergencyGas = 35; |
133 | staticParams.EmergencyGas = 35; |
134 | staticParams.EmergencyGasDuration = 30; |
134 | staticParams.EmergencyGasDuration = 30; |
135 | staticParams.Unused0 = 0; |
135 | staticParams.Unused0 = 0; |
136 | staticParams.IFactor = 32; |
136 | staticParams.IFactor = 32; |
137 | staticParams.ServoPitchControl = 100; |
137 | staticParams.ServoPitchControl = 100; |
Line 175... | Line 175... | ||
175 | /***************************************************/ |
175 | /***************************************************/ |
176 | void ParamSet_DefaultSet1(void) { // sport |
176 | void ParamSet_DefaultSet1(void) { // sport |
177 | setOtherDefaults(); |
177 | setOtherDefaults(); |
178 | gyro_setDefaults(); |
178 | gyro_setDefaults(); |
179 | setDefaultUserParams(); |
179 | setDefaultUserParams(); |
- | 180 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE; |
|
180 | memcpy(staticParams.Name, "Sport\0",6); |
181 | memcpy(staticParams.Name, "Sport\0",6); |
181 | } |
182 | } |
Line 182... | Line 183... | ||
182 | 183 | ||
183 | /***************************************************/ |
184 | /***************************************************/ |
184 | /* Default Values for parameter set 2 */ |
185 | /* Default Values for parameter set 2 */ |
185 | /***************************************************/ |
186 | /***************************************************/ |
186 | void ParamSet_DefaultSet2(void) { // normal |
187 | void ParamSet_DefaultSet2(void) { // normal |
187 | setOtherDefaults(); |
188 | setOtherDefaults(); |
188 | gyro_setDefaults(); |
189 | gyro_setDefaults(); |
- | 190 | setDefaultUserParams(); |
|
189 | setDefaultUserParams(); |
191 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE; |
190 | staticParams.Height_Gain = 3; |
192 | staticParams.Height_Gain = 3; |
191 | staticParams.J16Timing = 20; |
193 | staticParams.J16Timing = 20; |
192 | staticParams.J17Timing = 20; |
194 | staticParams.J17Timing = 20; |
193 | memcpy(staticParams.Name, "Normal\0", 7); |
195 | memcpy(staticParams.Name, "Normal\0", 7); |
Line 198... | Line 200... | ||
198 | /***************************************************/ |
200 | /***************************************************/ |
199 | void ParamSet_DefaultSet3(void) { // beginner |
201 | void ParamSet_DefaultSet3(void) { // beginner |
200 | setOtherDefaults(); |
202 | setOtherDefaults(); |
201 | gyro_setDefaults(); |
203 | gyro_setDefaults(); |
202 | setDefaultUserParams(); |
204 | setDefaultUserParams(); |
203 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
205 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE; |
204 | staticParams.Height_Gain = 3; |
206 | staticParams.Height_Gain = 3; |
205 | staticParams.EmergencyGasDuration = 20; |
207 | staticParams.EmergencyGasDuration = 20; |
206 | staticParams.AxisCouplingYawCorrection = 70; |
208 | staticParams.AxisCouplingYawCorrection = 70; |
207 | staticParams.J16Timing = 30; |
209 | staticParams.J16Timing = 30; |
208 | staticParams.J17Timing = 30; |
210 | staticParams.J17Timing = 30; |
Line 260... | Line 262... | ||
260 | // set this parameter set to active set |
262 | // set this parameter set to active set |
261 | setActiveParamSet(setnumber); |
263 | setActiveParamSet(setnumber); |
262 | output_init(); |
264 | output_init(); |
263 | } |
265 | } |
Line 264... | Line -... | ||
264 | - | ||
265 | 266 | ||
266 | /***************************************************/ |
267 | /***************************************************/ |
267 | /* Get active parameter set */ |
268 | /* Get active parameter set */ |
268 | /***************************************************/ |
269 | /***************************************************/ |
269 | uint8_t getActiveParamSet(void) { |
270 | uint8_t getActiveParamSet(void) { |
Line 330... | Line 331... | ||
330 | 331 | ||
331 | /***************************************************/ |
332 | /***************************************************/ |
332 | /* Initialize EEPROM Parameter Sets */ |
333 | /* Initialize EEPROM Parameter Sets */ |
333 | /***************************************************/ |
334 | /***************************************************/ |
334 | void ParamSet_Init(void) { |
335 | void ParamSet_Init(void) { |
335 | uint8_t Channel_Backup = 0, i; |
336 | uint8_t Channel_Backup=1, i, j; |
336 | // parameter version check |
337 | // parameter version check |
337 | if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
338 | if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
338 | // if version check faild |
339 | // if version check faild |
339 | printf("\n\rInit Parameter in EEPROM"); |
340 | printf("\n\rInit Parameter in EEPROM"); |
340 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
341 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
341 | // check if channel mapping backup is valid |
342 | // check if channel mapping backup is valid |
342 | if( (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12) |
- | |
343 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12) |
343 | for (j=0; j<4 && Channel_Backup; j++) { |
344 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12) |
- | |
345 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
- | |
346 | ) |
- | |
347 | { |
344 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) >= 12) |
348 | Channel_Backup = 1; |
345 | Channel_Backup = 0; |
349 | } |
346 | } |
350 | // fill all 5 parameter settings |
347 | // fill all 5 parameter settings |
351 | for (i=1; i<6; i++) { |
348 | for (i=1; i<6; i++) { |
352 | switch(i) { |
349 | switch(i) { |
Line 363... | Line 360... | ||
363 | ParamSet_DefaultSet2(); // Kamera |
360 | ParamSet_DefaultSet2(); // Kamera |
364 | break; |
361 | break; |
365 | } |
362 | } |
366 | if(Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
363 | if(Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
367 | // restore it |
364 | // restore it |
368 | staticParams.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
- | |
369 | staticParams.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
- | |
370 | staticParams.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
- | |
371 | staticParams.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
365 | for (j=0; j<8; j++) { |
372 | staticParams.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
366 | staticParams.ChannelAssignment[j] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+j]); |
373 | staticParams.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
- | |
374 | staticParams.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
- | |
375 | staticParams.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
- | |
- | 367 | } |
|
376 | } |
368 | } |
377 | ParamSet_WriteToEEProm(i); |
369 | ParamSet_WriteToEEProm(i); |
378 | } |
370 | } |
379 | // default-Setting is parameter set 3 |
371 | // default-Setting is parameter set 3 |
380 | setActiveParamSet(1); |
372 | setActiveParamSet(1); |