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Rev 2103 | Rev 2104 | ||
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Line 17... | Line 17... | ||
17 | uint8_t boardRelease; |
17 | uint8_t boardRelease; |
18 | uint8_t requiredMotors; |
18 | uint8_t requiredMotors; |
Line 19... | Line 19... | ||
19 | 19 | ||
Line 20... | Line -... | ||
20 | VersionInfo_t versionInfo; |
- | |
21 | 20 | VersionInfo_t versionInfo; |
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22 | // MK flags. TODO: Replace by enum. State machine. |
21 | |
Line 23... | Line 22... | ||
23 | FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL; |
22 | FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL; |
24 | volatile uint8_t isMotorRunning = 0; |
23 | volatile uint8_t isMotorRunning = 0; |
- | 24 | ||
- | 25 | const MMXLATION XLATIONS[] = { |
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- | 26 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
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- | 27 | ||
- | 28 | {offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255}, |
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- | 29 | {offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255}, |
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- | 30 | {offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255}, |
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- | 31 | ||
- | 32 | {offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255}, |
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- | 33 | {offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255}, |
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- | 34 | {offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255}, |
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- | 35 | ||
- | 36 | {offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255}, |
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25 | 37 | {offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255}, |
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26 | const MMXLATION XLATIONS[] = { |
38 | {offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255}, |
27 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
39 | |
28 | {offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255}, |
40 | {offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255}, |
29 | {offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255}, |
41 | {offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255}, |
Line 102... | Line 114... | ||
102 | RED_OFF; |
114 | RED_OFF; |
103 | GRN_OFF; |
115 | GRN_OFF; |
104 | } |
116 | } |
Line 105... | Line 117... | ||
105 | 117 | ||
- | 118 | void configuration_setFlightParameters(uint8_t newFlightMode) { |
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106 | void configuration_setFlightParameters(uint8_t newFlightMode) { |
119 | currentFlightMode = newFlightMode; |
107 | flight_updateFlightParametersToFlightMode(currentFlightMode = newFlightMode); |
120 | flight_updateFlightParametersToFlightMode(); |
Line 108... | Line 121... | ||
108 | } |
121 | } |
109 | 122 | ||
110 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
123 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
Line 134... | Line 147... | ||
134 | // Battery warning and emergency flight |
147 | // Battery warning and emergency flight |
135 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
148 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
136 | staticParams.emergencyThrottle = 35; |
149 | staticParams.emergencyThrottle = 35; |
137 | staticParams.emergencyFlightDuration = 30; |
150 | staticParams.emergencyFlightDuration = 30; |
Line -... | Line 151... | ||
- | 151 | ||
- | 152 | for (uint8_t i=0; i<3; i++) { |
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- | 153 | staticParams.gyroPID[i].P = 80; |
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- | 154 | staticParams.gyroPID[i].I = 80; |
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- | 155 | staticParams.gyroPID[i].D = 40; |
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- | 156 | } |
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138 | 157 | ||
139 | staticParams.stickIElevator = 80; |
158 | staticParams.stickIElevator = 80; |
140 | staticParams.stickIAilerons = 120; |
159 | staticParams.stickIAilerons = 120; |
Line 141... | Line 160... | ||
141 | staticParams.stickIRudder = 40; |
160 | staticParams.stickIRudder = 40; |
Line 159... | Line 178... | ||
159 | for (uint8_t i=0; i<8; i++) { |
178 | for (uint8_t i=0; i<8; i++) { |
160 | staticParams.userParams[i] = i; |
179 | staticParams.userParams[i] = i; |
161 | } |
180 | } |
Line 162... | Line 181... | ||
162 | 181 | ||
163 | staticParams.bitConfig = |
182 | staticParams.bitConfig = |
Line 164... | Line 183... | ||
164 | CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED; |
183 | CFG_GYRO_SATURATION_PREVENTION; |
165 | 184 | ||
Line 166... | Line 185... | ||
166 | memcpy(staticParams.name, "Default\0", 6); |
185 | memcpy(staticParams.name, "Default\0", 6); |