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40 | uint8_t rateTolerance; |
40 | uint8_t rateTolerance; |
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41 | 41 | ||
42 | uint8_t gyroActivityDamping; |
42 | uint8_t gyroActivityDamping; |
43 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
43 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
- | 44 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
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44 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
45 | int8_t gyroCalibrationTweak[3]; |
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45 | } IMUConfig_t; |
46 | } IMUConfig_t; |
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46 | 47 | ||
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90 | 91 | ||
91 | // Output and servo |
92 | // Output and servo |
92 | /*PMM*/uint8_t output0Timing; |
93 | /*PMM*/uint8_t output0Timing; |
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93 | /*PMM*/uint8_t output1Timing; |
94 | /*PMM*/uint8_t output1Timing; |
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94 | 95 | ||
95 | uint8_t servoManualControl[2]; |
96 | uint8_t gimbalServoManualControl[2]; |
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96 | 97 | ||
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109 | uint8_t sourceIdx, targetIdx; |
110 | uint8_t sourceIdx, targetIdx; |
110 | } XLATION; |
111 | } XLATION; |
111 | */ |
112 | */ |
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112 | 113 | ||
- | 114 | typedef struct { |
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113 | typedef struct { |
115 | uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky. |
114 | uint8_t HWTrim; |
116 | uint8_t HWTrim; |
115 | uint8_t variableOffset; |
117 | uint8_t variableOffset; |
116 | uint8_t channels[MAX_CHANNELS]; |
118 | uint8_t channels[MAX_CHANNELS]; |
117 | } ChannelMap_t; |
119 | } ChannelMap_t; |
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- | 120 | extern ChannelMap_t channelMap; |
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- | 121 | ||
- | 122 | // With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated, |
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- | 123 | // and then save in a succeeding gyro calibration command. |
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- | 124 | typedef struct { |
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- | 125 | int16_t trim[MAX_CHANNELS]; |
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- | 126 | } RCTrim_t; |
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118 | extern ChannelMap_t channelMap; |
127 | extern RCTrim_t rcTrim; |
119 | 128 | ||
120 | typedef struct { |
129 | typedef struct { |
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121 | int16_t offsets[3]; |
130 | int16_t offsets[3]; |