Rev 1927 | Rev 2099 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1927 | Rev 2025 | ||
---|---|---|---|
Line 8... | Line 8... | ||
8 | /*PMM*/uint8_t HeightD; |
8 | /*PMM*/uint8_t HeightD; |
9 | /* P */uint8_t MaxHeight; |
9 | /* P */uint8_t MaxHeight; |
10 | /*PMM*/uint8_t HeightP; |
10 | /*PMM*/uint8_t HeightP; |
11 | /* P */uint8_t Height_ACC_Effect; |
11 | /* P */uint8_t Height_ACC_Effect; |
12 | /* P */uint8_t CompassYawEffect; |
12 | /* P */uint8_t CompassYawEffect; |
13 | /* P */uint8_t unnused; |
- | |
Line 14... | Line 13... | ||
14 | 13 | ||
15 | /* P */uint8_t GyroPitchP; |
14 | /* P */uint8_t GyroPitchP; |
16 | /* P */uint8_t GyroRollP; |
15 | /* P */uint8_t GyroRollP; |
Line 21... | Line 20... | ||
21 | 20 | ||
22 | /* P */uint8_t GyroPitchD; // LoopGasLimit in tool |
21 | /* P */uint8_t GyroPitchD; // LoopGasLimit in tool |
23 | /* P */uint8_t GyroRollD; // AxisCoupling1 in tool |
22 | /* P */uint8_t GyroRollD; // AxisCoupling1 in tool |
Line 24... | Line -... | ||
24 | /* P */uint8_t GyroYawD; // AxisCoupling2 in tool |
- | |
25 | - | ||
26 | /* P */uint8_t AxisCouplingYawCorrection; |
23 | /* P */uint8_t GyroYawD; // AxisCoupling2 in tool |
27 | /* P */uint8_t DynamicStability; |
24 | |
28 | /* P */uint8_t ExternalControl; |
25 | /* P */uint8_t ExternalControl; |
29 | /*PMM*/uint8_t J16Timing; |
- | |
30 | /*PMM*/uint8_t J17Timing; |
- | |
31 | /* P */uint8_t NaviGpsModeControl; |
- | |
32 | /* P */uint8_t NaviGpsGain; |
- | |
33 | /* P */uint8_t NaviGpsP; |
- | |
34 | /* P */uint8_t NaviGpsI; |
- | |
35 | /* P */uint8_t NaviGpsD; |
- | |
36 | /* P */uint8_t NaviGpsACC; |
- | |
37 | /*PMM*/uint8_t NaviOperatingRadius; |
- | |
38 | /* P */uint8_t NaviWindCorrection; |
- | |
39 | /* P */uint8_t NaviSpeedCompensation; |
- | |
40 | int8_t KalmanK; |
- | |
41 | int8_t KalmanMaxDrift; |
26 | /*PMM*/uint8_t J16Timing; |
42 | int8_t KalmanMaxFusion; |
27 | /*PMM*/uint8_t J17Timing; |
Line 43... | Line 28... | ||
43 | } dynamicParam_t; |
28 | } dynamicParam_t; |
44 | extern dynamicParam_t dynamicParams; |
29 | extern dynamicParam_t dynamicParams; |
Line 61... | Line 46... | ||
61 | uint8_t MaxHeight; // Value : 0-32 |
46 | uint8_t MaxHeight; // Value : 0-32 |
62 | uint8_t HeightP; // Value : 0-32 |
47 | uint8_t HeightP; // Value : 0-32 |
63 | uint8_t Height_Gain; // Value : 0-50 |
48 | uint8_t Height_Gain; // Value : 0-50 |
64 | uint8_t Height_ACC_Effect; // Value : 0-250 |
49 | uint8_t Height_ACC_Effect; // Value : 0-250 |
Line 65... | Line 50... | ||
65 | 50 | ||
66 | uint8_t StickElevatorP; // StickP in tool. |
51 | uint8_t StickElevatorP; |
67 | uint8_t StickAileronsP; // StickD in tool. |
52 | uint8_t StickAileronsP; |
- | 53 | uint8_t StickRudderP; |
|
- | 54 | ||
68 | uint8_t StickRudderP; // StickYawP in tool. |
55 | uint8_t PIDGyroFilter;// Value: 1-8 |
69 | 56 | ||
70 | uint8_t GyroAccFactor; // Value : 1-64 |
57 | uint8_t DGyroFilter; // Value: 1-8 |
- | 58 | uint8_t attitudeGyroFilter; // Value: 1-8 |
|
- | 59 | ||
71 | uint8_t CompassYawEffect; // Value : 0-32 |
60 | uint8_t accFilter; |
72 | 61 | ||
73 | uint8_t GyroPitchP; // GyroP in tool |
62 | uint8_t GyroPitchP; |
74 | uint8_t GyroRollP; // GyroI in tool |
63 | uint8_t GyroRollP; |
Line 75... | Line 64... | ||
75 | uint8_t GyroYawP; // GyroD in tool |
64 | uint8_t GyroYawP; |
Line 76... | Line 65... | ||
76 | 65 | ||
Line 77... | Line 66... | ||
77 | uint8_t UserParams[8]; // Value : 0-250 |
66 | uint8_t UserParams[8]; // Value : 0-250 |
78 | 67 | ||
Line 79... | Line 68... | ||
79 | uint8_t LowVoltageWarning; // Value : 0-250 |
68 | uint8_t LowVoltageWarning; // Value : 0-250 |
80 | 69 | ||
81 | uint8_t ControlSigns; |
70 | uint8_t servoDirections; |
Line 82... | Line 71... | ||
82 | uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
71 | uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
- | 72 | ||
- | 73 | uint8_t GyroPitchD; |
|
- | 74 | uint8_t GyroRollD; |
|
83 | 75 | uint8_t GyroYawD; |
|
- | 76 | ||
Line 84... | Line 77... | ||
84 | uint8_t GyroPitchD; // LoopGasLimit in tool |
77 | uint8_t zerothOrderGyroCorrectionZAccLimit; |
85 | uint8_t GyroRollD; // loopThreshold in tool |
78 | uint8_t zerothOrderGyroCorrectionFactorx1000; |
86 | uint8_t GyroYawD; // loopHysteresis in tool |
79 | |
87 | 80 | uint8_t secondOrderGyroCorrectionDivisor; |
|
Line 88... | Line 81... | ||
88 | uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
81 | uint8_t secondOrderGyroCorrectionLimit; |
89 | uint8_t DriftComp; // limit for gyrodrift compensation |
- | |
90 | - | ||
91 | uint8_t J16Bitmask; // for the J16 Output |
- | |
92 | uint8_t J16Timing; // for the J16 Output |
- | |
93 | uint8_t J17Bitmask; // for the J17 Output |
- | |
94 | uint8_t J17Timing; // for the J17 Output |
- | |
95 | 82 | uint8_t CompassYawEffect; // Value : 0-32 |
|
Line 96... | Line 83... | ||
96 | uint8_t ExternalControl; // for serial Control |
83 | |
Line 97... | Line 84... | ||
97 | uint8_t BitConfig; // see upper defines for bitcoding |
84 | uint8_t J16Bitmask; // for the J16 Output |
Line 132... | Line 119... | ||
132 | #define CFG_COMPASS_FIX (1<<4) |
119 | #define CFG_COMPASS_FIX (1<<4) |
133 | #define CFG_GPS_ACTIVE (1<<5) |
120 | #define CFG_GPS_ACTIVE (1<<5) |
134 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
121 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
135 | #define CFG_ROTARY_RATE_LIMITER (1<<7) |
122 | #define CFG_ROTARY_RATE_LIMITER (1<<7) |
Line 136... | Line 123... | ||
136 | 123 | ||
137 | // bit mask for staticParams.BitConfig |
- | |
138 | #define CFG_LOOP_UP (1<<0) |
- | |
139 | #define CFG_LOOP_DOWN (1<<1) |
124 | // bit mask for staticParams.ServoDirections |
140 | #define CFG_LOOP_LEFT (1<<2) |
125 | #define SERVO_DIRECTION_ELEVATOR (1<<0) |
141 | #define CFG_LOOP_RIGHT (1<<3) |
126 | #define SERVO_DIRECTION_AILERONS (1<<1) |
Line 142... | Line 127... | ||
142 | #define CFG_HEIGHT_3SWITCH (1<<4) |
127 | #define SERVO_DIRECTION_RUDDER (1<<2) |
143 | 128 | ||
144 | #define ATMEGA644 0 |
129 | #define ATMEGA644 0 |