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| 19 | uint8_t requiredMotors; |
19 | uint8_t requiredMotors; |
| Line 20... | Line 20... | ||
| 20 | 20 | ||
| Line 21... | Line 21... | ||
| 21 | VersionInfo_t versionInfo; |
21 | VersionInfo_t versionInfo; |
| - | 22 | ||
| 22 | 23 | FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL; |
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| Line 23... | Line 24... | ||
| 23 | FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL; |
24 | // updated by considering airspeed.. |
| 24 | volatile uint16_t isFlying= 0; |
25 | volatile uint16_t isFlying= 0; |
| Line 152... | Line 153... | ||
| 152 | 153 | ||
| 153 | // Battery warning and emergency flight |
154 | // Battery warning and emergency flight |
| Line 154... | Line 155... | ||
| 154 | staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
155 | staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
| 155 | 156 | ||
| 156 | for (uint8_t i=0; i<3; i++) { |
157 | for (uint8_t i=0; i<3; i++) { |
| 157 | staticParams.gyroPID[i].P = 200; |
158 | staticParams.gyroPID[i].P = 80; |
| 158 | staticParams.gyroPID[i].I = 40; |
159 | staticParams.gyroPID[i].I = 40; |
| 159 | staticParams.gyroPID[i].D = 40; |
160 | staticParams.gyroPID[i].D = 40; |
| Line 205... | Line 206... | ||
| 205 | 206 | ||
| 206 | /***************************************************/ |
207 | /***************************************************/ |
| 207 | /* Default Values for R/C Channels */ |
208 | /* Default Values for R/C Channels */ |
| 208 | /***************************************************/ |
209 | /***************************************************/ |
| 209 | void channelMap_default(void) { |
- | |
| 210 | channelMap.RCPolarity = 1; |
- | |
| 211 | channelMap.HWTrim = 192; |
- | |
| 212 | channelMap.variableOffset = 128; |
210 | void channelMap_default(void) { |
| 213 | channelMap.channels[CH_ELEVATOR] = 1; |
211 | channelMap.channels[CH_ELEVATOR] = 1; |
| 214 | channelMap.channels[CH_AILERONS] = 0; |
212 | channelMap.channels[CH_AILERONS] = 0; |
| 215 | channelMap.channels[CH_THROTTLE] = 2; |
213 | channelMap.channels[CH_THROTTLE] = 2; |
| 216 | channelMap.channels[CH_RUDDER] = 3; |
214 | channelMap.channels[CH_RUDDER] = 3; |
| 217 | channelMap.channels[CH_POTS + 0] = 4; |
215 | channelMap.channels[CH_POTS + 0] = 4; |