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Rev 2048 | Rev 2051 | ||
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Line 85... | Line 85... | ||
85 | #define SET_POT_MM(b,a,min,max) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a; if(b<=min) b=min; else if(b>=max) b=max;} |
85 | #define SET_POT_MM(b,a,min,max) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a; if(b<=min) b=min; else if(b>=max) b=max;} |
86 | #define SET_POT(b,a) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;} |
86 | #define SET_POT(b,a) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;} |
87 | SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200); |
87 | SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200); |
88 | SET_POT(dynamicParams.gyroI, staticParams.gyroI); |
88 | SET_POT(dynamicParams.gyroI, staticParams.gyroI); |
89 | SET_POT(dynamicParams.gyroD, staticParams.gyroD); |
89 | SET_POT(dynamicParams.gyroD, staticParams.gyroD); |
90 | SET_POT(dynamicParams.compassYawEffect,staticParams.compassYawEffect); |
90 | SET_POT(dynamicParams.compassFixedHeading,staticParams.compassFixedHeading); |
Line 91... | Line 91... | ||
91 | 91 | ||
92 | SET_POT(dynamicParams.externalControl, staticParams.externalControl); |
92 | SET_POT(dynamicParams.externalControl, staticParams.externalControl); |
93 | SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability); |
93 | SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability); |
Line 244... | Line 244... | ||
244 | // set by gyro-specific code: gyro_setDefaults(). |
244 | // set by gyro-specific code: gyro_setDefaults(). |
245 | // staticParams.zerothOrderCorrection = |
245 | // staticParams.zerothOrderCorrection = |
246 | // staticParams.driftCompDivider = |
246 | // staticParams.driftCompDivider = |
247 | // staticParams.driftCompLimit = |
247 | // staticParams.driftCompLimit = |
Line 248... | Line -... | ||
248 | - | ||
249 | staticParams.axisCoupling1 = 90; |
- | |
250 | staticParams.axisCoupling2 = 67; |
- | |
251 | staticParams.axisCouplingYawCorrection = 0; |
248 | |
252 | staticParams.dynamicStability = 50; |
249 | staticParams.dynamicStability = 50; |
253 | staticParams.maxAccVector = 10; |
250 | staticParams.maxAccVector = 10; |
254 | staticParams.IFactor = 32; |
251 | staticParams.IFactor = 32; |
255 | staticParams.yawIFactor = 100; |
252 | staticParams.yawIFactor = 100; |
- | 253 | staticParams.compassYawCorrection = 64; |
|
256 | staticParams.compassYawEffect = 128; |
254 | staticParams.compassFixedHeading = 0; |
Line 257... | Line 255... | ||
257 | staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
255 | staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
258 | 256 | ||
259 | // Servos |
257 | // Servos |