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| Rev 2119 | Rev 2122 | ||
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| 8 | #include "flight.h" |
8 | #include "flight.h" |
| Line 9... | Line 9... | ||
| 9 | 9 | ||
| 10 | int16_t variables[VARIABLE_COUNT]; |
10 | int16_t variables[VARIABLE_COUNT]; |
| 11 | ParamSet_t staticParams; |
11 | ParamSet_t staticParams; |
| - | 12 | ChannelMap_t channelMap; |
|
| 12 | ChannelMap_t channelMap; |
13 | RCTrim_t rcTrim; |
| 13 | IMUConfig_t IMUConfig; |
14 | IMUConfig_t IMUConfig; |
| Line 14... | Line 15... | ||
| 14 | volatile DynamicParams_t dynamicParams; |
15 | volatile DynamicParams_t dynamicParams; |
| 15 | 16 | ||
| Line 151... | Line 152... | ||
| 151 | 152 | ||
| 152 | // Battery warning and emergency flight |
153 | // Battery warning and emergency flight |
| Line 153... | Line 154... | ||
| 153 | staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
154 | staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
| 154 | 155 | ||
| 155 | for (uint8_t i=0; i<3; i++) { |
156 | for (uint8_t i=0; i<3; i++) { |
| 156 | staticParams.gyroPID[i].P = 80; |
157 | staticParams.gyroPID[i].P = 200; |
| 157 | staticParams.gyroPID[i].I = 80; |
158 | staticParams.gyroPID[i].I = 80; |
| 158 | staticParams.gyroPID[i].D = 40; |
159 | staticParams.gyroPID[i].D = 40; |
| Line 202... | Line 203... | ||
| 202 | /***************************************************/ |
203 | /***************************************************/ |
| 203 | /* Default Values for R/C Channels */ |
204 | /* Default Values for R/C Channels */ |
| 204 | /***************************************************/ |
205 | /***************************************************/ |
| 205 | void channelMap_default(void) { |
206 | void channelMap_default(void) { |
| 206 | channelMap.RCPolarity = 1; |
207 | channelMap.RCPolarity = 1; |
| 207 | channelMap.trim = 192; |
208 | channelMap.HWTrim = 192; |
| 208 | channelMap.variableOffset = 128; |
209 | channelMap.variableOffset = 128; |
| 209 | channelMap.channels[CH_ELEVATOR] = 1; |
210 | channelMap.channels[CH_ELEVATOR] = 1; |
| 210 | channelMap.channels[CH_AILERONS] = 0; |
211 | channelMap.channels[CH_AILERONS] = 0; |
| 211 | channelMap.channels[CH_THROTTLE] = 2; |
212 | channelMap.channels[CH_THROTTLE] = 2; |
| 212 | channelMap.channels[CH_RUDDER] = 3; |
213 | channelMap.channels[CH_RUDDER] = 3; |