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Rev 2099 | Rev 2102 | ||
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24 | #define FC_ERROR1_MIXER 0x10 |
24 | #define FC_ERROR1_MIXER 0x10 |
25 | #define FC_ERROR1_RES1 0x20 |
25 | #define FC_ERROR1_RES1 0x20 |
26 | #define FC_ERROR1_RES2 0x40 |
26 | #define FC_ERROR1_RES2 0x40 |
27 | #define FC_ERROR1_RES3 0x80 |
27 | #define FC_ERROR1_RES3 0x80 |
Line -... | Line 28... | ||
- | 28 | ||
- | 29 | typedef enum { |
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- | 30 | FLIGHT_MODE_NONE, |
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- | 31 | FLIGHT_MODE_MANUAL, |
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- | 32 | FLIGHT_MODE_RATE, |
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- | 33 | FLIGHT_MODE_ANGLES |
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- | 34 | } FlightMode_t; |
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- | 35 | ||
- | 36 | #define CONTROL_SERVO_REVERSE_ELEVATOR 1 |
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- | 37 | #define CONTROL_SERVO_REVERSE_AILERONS 2 |
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- | 38 | #define CONTROL_SERVO_REVERSE_RUDDER 4 |
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28 | 39 | ||
29 | typedef struct { |
40 | typedef struct { |
30 | uint8_t SWMajor; |
41 | uint8_t SWMajor; |
31 | uint8_t SWMinor; |
42 | uint8_t SWMinor; |
32 | uint8_t protoMajor; |
43 | uint8_t protoMajor; |
Line 37... | Line 48... | ||
37 | 48 | ||
Line 38... | Line 49... | ||
38 | extern VersionInfo_t versionInfo; |
49 | extern VersionInfo_t versionInfo; |
39 | 50 | ||
40 | typedef struct { |
51 | typedef struct { |
41 | /*PMM*/uint8_t gyroPitchD; |
52 | /*PMM*/uint8_t gyroPitchD; |
Line 42... | Line 53... | ||
42 | /* P */uint8_t gyroRollD; |
53 | /* P */uint8_t gyroRollD;\ |
43 | /* P */uint8_t gyroYawD; |
54 | /* P */uint8_t gyroYawD; |
Line 44... | Line -... | ||
44 | - | ||
45 | // Control |
- | |
46 | /* P */uint8_t externalControl; |
- | |
47 | - | ||
48 | // Height control |
- | |
49 | /*PMM*/uint8_t heightP; |
- | |
50 | /* P */uint8_t heightI; |
55 | |
51 | /*PMM*/uint8_t heightD; |
56 | // Control |
52 | /* P */uint8_t heightSetting; |
57 | /* P */uint8_t externalControl; |
Line 53... | Line 58... | ||
53 | 58 | ||
Line 121... | Line 126... | ||
121 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
126 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
122 | } IMUConfig_t; |
127 | } IMUConfig_t; |
Line 123... | Line 128... | ||
123 | 128 | ||
Line -... | Line 129... | ||
- | 129 | extern IMUConfig_t IMUConfig; |
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- | 130 | ||
- | 131 | typedef struct { |
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- | 132 | uint8_t P; |
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- | 133 | uint8_t I; |
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- | 134 | uint8_t D; |
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124 | extern IMUConfig_t IMUConfig; |
135 | } PID_t; |
125 | 136 | ||
126 | // values above 250 representing poti1 to poti4 |
137 | // values above 250 representing poti1 to poti4 |
127 | typedef struct { |
138 | typedef struct { |
Line 133... | Line 144... | ||
133 | // uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
144 | // uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
Line 134... | Line 145... | ||
134 | 145 | ||
Line 135... | Line 146... | ||
135 | uint8_t levelCorrection[2]; |
146 | uint8_t levelCorrection[2]; |
136 | - | ||
137 | // Control |
- | |
138 | uint8_t gyroPitchP; |
147 | |
139 | uint8_t gyroPitchI; |
- | |
140 | uint8_t gyroPitchD; |
- | |
141 | - | ||
142 | uint8_t gyroRollP; |
- | |
143 | uint8_t gyroRollI; |
- | |
144 | uint8_t gyroRollD; |
- | |
145 | - | ||
146 | uint8_t gyroYawP; |
- | |
Line 147... | Line 148... | ||
147 | uint8_t gyroYawI; |
148 | // Control |
148 | uint8_t gyroYawD; |
149 | PID_t gyroPID[3]; |
149 | 150 | ||
Line 158... | Line 159... | ||
158 | uint8_t batteryVoltageWarning; |
159 | uint8_t batteryVoltageWarning; |
159 | uint8_t emergencyThrottle; |
160 | uint8_t emergencyThrottle; |
160 | uint8_t emergencyFlightDuration; |
161 | uint8_t emergencyFlightDuration; |
Line 161... | Line 162... | ||
161 | 162 | ||
- | 163 | // Servos |
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- | 164 | uint8_t controlServosReverse; |
|
162 | // Servos |
165 | |
163 | uint8_t servoCount; |
166 | uint8_t servoCount; |
164 | uint8_t servoManualMaxSpeed; |
167 | uint8_t servoManualMaxSpeed; |
Line 165... | Line 168... | ||
165 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
168 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
Line 176... | Line 179... | ||
176 | char name[12]; |
179 | char name[12]; |
177 | } ParamSet_t; |
180 | } ParamSet_t; |
Line 178... | Line 181... | ||
178 | 181 | ||
Line 179... | Line -... | ||
179 | extern ParamSet_t staticParams; |
- | |
180 | - | ||
181 | // MKFlags |
- | |
182 | #define MKFLAG_MOTOR_RUN (1<<0) |
- | |
183 | //#define MKFLAG_FLY (1<<1) |
- | |
184 | #define MKFLAG_CALIBRATE (1<<2) |
- | |
185 | #define MKFLAG_START (1<<3) |
- | |
186 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
- | |
187 | #define MKFLAG_LOWBAT (1<<5) |
- | |
188 | #define MKFLAG_RESERVE2 (1<<6) |
- | |
189 | #define MKFLAG_RESERVE3 (1<<7) |
182 | extern ParamSet_t staticParams; |
190 | 183 | ||
191 | // bit mask for staticParams.bitConfig |
184 | // bit mask for staticParams.bitConfig |
192 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
185 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
193 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
186 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
Line 221... | Line 214... | ||
221 | #define MIX_ROLL 2 |
214 | #define MIX_ROLL 2 |
222 | #define MIX_YAW 3 |
215 | #define MIX_YAW 3 |
Line 223... | Line 216... | ||
223 | 216 | ||
Line 224... | Line -... | ||
224 | #define VARIABLE_COUNT 8 |
- | |
225 | - | ||
226 | extern volatile uint8_t MKFlags; |
217 | #define VARIABLE_COUNT 8 |
227 | extern uint8_t requiredMotors; |
218 | |
228 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
219 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
Line 229... | Line 220... | ||
229 | extern uint8_t boardRelease; |
220 | extern uint8_t boardRelease; |
230 | extern uint8_t CPUType; |
221 | extern uint8_t CPUType; |
Line 231... | Line 222... | ||
231 | 222 | ||
232 | extern volatile uint8_t MKFlags; |
223 | extern volatile uint8_t isMotorRunning; |
233 | extern uint16_t isFlying; |
224 | extern FlightMode_t currentFlightMode; |
234 | - | ||
Line 235... | Line 225... | ||
235 | void IMUConfig_default(void); |
225 | |
236 | void channelMap_default(void); |
- | |
237 | void paramSet_default(uint8_t setnumber); |
226 | void IMUConfig_default(void); |
Line 238... | Line 227... | ||
238 | void mixerMatrix_default(void); |
227 | void channelMap_default(void); |
239 | 228 | void paramSet_default(uint8_t setnumber); |