Rev 2122 | Rev 2132 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 2122 | Rev 2129 | ||
---|---|---|---|
Line 7... | Line 7... | ||
7 | #include "flight.h" |
7 | #include "flight.h" |
Line 8... | Line 8... | ||
8 | 8 | ||
9 | int16_t variables[VARIABLE_COUNT]; |
9 | int16_t variables[VARIABLE_COUNT]; |
10 | ParamSet_t staticParams; |
10 | ParamSet_t staticParams; |
- | 11 | ChannelMap_t channelMap; |
|
11 | ChannelMap_t channelMap; |
12 | RCTrim_t rcTrim; |
12 | IMUConfig_t IMUConfig; |
13 | IMUConfig_t IMUConfig; |
Line 13... | Line 14... | ||
13 | volatile DynamicParams_t dynamicParams; |
14 | volatile DynamicParams_t dynamicParams; |
Line 31... | Line 32... | ||
31 | 32 | ||
32 | {offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255}, |
33 | {offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255}, |
33 | {offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255}, |
34 | {offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255}, |
Line 34... | Line 35... | ||
34 | {offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255}, |
35 | {offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255}, |
35 | 36 | ||
36 | {offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255}, |
37 | {offsetof(ParamSet_t, gimbalServoConfigurations[0].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[0]),0,255}, |
37 | {offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255}, |
38 | {offsetof(ParamSet_t, gimbalServoConfigurations[1].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[1]),0,255}, |
38 | {offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255}, |
39 | {offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255}, |
Line 39... | Line 40... | ||
39 | {offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255}, |
40 | {offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255}, |
Line 87... | Line 88... | ||
87 | staticParams.airspeedCorrection = 100; |
88 | staticParams.airspeedCorrection = 100; |
88 | staticParams.isFlyingThreshold = 100; |
89 | staticParams.isFlyingThreshold = 100; |
Line 89... | Line 90... | ||
89 | 90 | ||
90 | // Servos |
91 | // Servos |
- | 92 | staticParams.servoCount = 7; |
|
- | 93 | staticParams.servosReverse = CONTROL_SERVO_REVERSE_ELEVATOR | CONTROL_SERVO_REVERSE_RUDDER; |
|
91 | staticParams.servoCount = 7; |
94 | |
92 | staticParams.gimbalServoMaxManualSpeed = 10; |
95 | staticParams.gimbalServoMaxManualSpeed = 10; |
93 | for (uint8_t i=0; i<2; i++) { |
96 | for (uint8_t i=0; i<2; i++) { |
94 | staticParams.servoConfigurations[i].manualControl = 128; |
97 | staticParams.gimbalServoConfigurations[i].manualControl = 128; |
95 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
98 | staticParams.gimbalServoConfigurations[i].stabilizationFactor = 0; |
96 | staticParams.servoConfigurations[i].minValue = 32; |
99 | staticParams.gimbalServoConfigurations[i].minValue = 32; |
97 | staticParams.servoConfigurations[i].maxValue = 224; |
100 | staticParams.gimbalServoConfigurations[i].maxValue = 224; |
98 | staticParams.servoConfigurations[i].flags = 0; |
101 | staticParams.gimbalServoConfigurations[i].flags = 0; |
Line 99... | Line 102... | ||
99 | } |
102 | } |
100 | 103 | ||
101 | // Battery warning and emergency flight |
- | |
102 | staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
- | |
Line 103... | Line 104... | ||
103 | staticParams.emergencyThrottle = 35; |
104 | // Battery warning and emergency flight |
104 | staticParams.emergencyFlightDuration = 30; |
105 | staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
105 | 106 | ||
106 | for (uint8_t i=0; i<3; i++) { |
107 | for (uint8_t i=0; i<3; i++) { |
107 | staticParams.gyroPID[i].P = 80; |
108 | staticParams.gyroPID[i].P = 80; |
108 | staticParams.gyroPID[i].I = 80; |
109 | staticParams.gyroPID[i].I = 80; |
Line 109... | Line 110... | ||
109 | staticParams.gyroPID[i].D = 40; |
110 | staticParams.gyroPID[i].D = 40; |
110 | staticParams.gyroPID[i].iMax = 45; |
111 | staticParams.gyroPID[i].iMax = 45; |
111 | } |
112 | } |
Line 112... | Line 113... | ||
112 | 113 | ||
113 | staticParams.stickIElevator = 80; |
114 | staticParams.stickIElevator = 60; |
114 | staticParams.stickIAilerons = 120; |
115 | staticParams.stickIAilerons = 80; |
115 | staticParams.stickIRudder = 40; |
116 | staticParams.stickIRudder = 25; |
Line 145... | Line 146... | ||
145 | IMUConfig.gyroDFilterConstant = 1; |
146 | IMUConfig.gyroDFilterConstant = 1; |
146 | IMUConfig.rateTolerance = 120; |
147 | IMUConfig.rateTolerance = 120; |
147 | IMUConfig.gyroDWindowLength = 3; |
148 | IMUConfig.gyroDWindowLength = 3; |
148 | IMUConfig.gyroQuadrant = 0; |
149 | IMUConfig.gyroQuadrant = 0; |
149 | IMUConfig.imuReversedFlags = 0; |
150 | IMUConfig.imuReversedFlags = 0; |
- | 151 | IMUConfig.gyroCalibrationTweak[0] = |
|
- | 152 | IMUConfig.gyroCalibrationTweak[1] = |
|
- | 153 | IMUConfig.gyroCalibrationTweak[2] = 0; |
|
150 | } |
154 | } |
Line 151... | Line 155... | ||
151 | 155 | ||
152 | /***************************************************/ |
156 | /***************************************************/ |
153 | /* Default Values for R/C Channels */ |
157 | /* Default Values for R/C Channels */ |
154 | /***************************************************/ |
158 | /***************************************************/ |
- | 159 | void channelMap_default(void) { |
|
155 | void channelMap_default(void) { |
160 | channelMap.RCPolarity = 1; |
- | 161 | channelMap.HWTrim = 192; |
|
156 | channelMap.HWTrim = 0; |
162 | channelMap.variableOffset = 128; |
157 | channelMap.channels[CH_ELEVATOR] = 1; |
163 | channelMap.channels[CH_ELEVATOR] = 1; |
158 | channelMap.channels[CH_AILERONS] = 0; |
164 | channelMap.channels[CH_AILERONS] = 0; |
159 | channelMap.channels[CH_THROTTLE] = 2; |
165 | channelMap.channels[CH_THROTTLE] = 2; |
160 | channelMap.channels[CH_RUDDER] = 3; |
166 | channelMap.channels[CH_RUDDER] = 3; |