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Rev 1980 | Rev 1986 | ||
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Line 76... | Line 76... | ||
76 | * Replacing this code by the code below saved almost 1 kbyte. |
76 | * Replacing this code by the code below saved almost 1 kbyte. |
77 | ************************************************************************/ |
77 | ************************************************************************/ |
Line 78... | Line 78... | ||
78 | 78 | ||
79 | void configuration_applyVariablesToParams(void) { |
79 | void configuration_applyVariablesToParams(void) { |
- | 80 | uint8_t i; |
|
- | 81 | ||
- | 82 | debugOut.analog[20] = variables[0]; |
|
80 | uint8_t i; |
83 | |
81 | #define SET_POT_MM(b,a,min,max) {if (a<255) {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;} |
84 | #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;} |
82 | #define SET_POT(b,a) { if (a<255) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;}} |
85 | #define SET_POT(b,a) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;} |
83 | SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200); |
86 | SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200); |
84 | SET_POT(dynamicParams.gyroI, staticParams.gyroI); |
87 | SET_POT(dynamicParams.gyroI, staticParams.gyroI); |
85 | SET_POT(dynamicParams.gyroD, staticParams.gyroD); |
88 | SET_POT(dynamicParams.gyroD, staticParams.gyroD); |
86 | SET_POT(dynamicParams.IFactor, staticParams.IFactor); |
89 | SET_POT(dynamicParams.IFactor, staticParams.IFactor); |
Line 238... | Line 241... | ||
238 | 241 | ||
239 | staticParams.axisCoupling1 = 90; |
242 | staticParams.axisCoupling1 = 90; |
240 | staticParams.axisCoupling2 = 67; |
243 | staticParams.axisCoupling2 = 67; |
241 | staticParams.axisCouplingYawCorrection = 0; |
244 | staticParams.axisCouplingYawCorrection = 0; |
- | 245 | staticParams.dynamicStability = 50; |
|
242 | staticParams.dynamicStability = 50; |
246 | staticParams.maxAccVector = 10; |
243 | staticParams.IFactor = 32; |
247 | staticParams.IFactor = 32; |
244 | staticParams.yawIFactor = 100; |
248 | staticParams.yawIFactor = 100; |
Line 245... | Line 249... | ||
245 | staticParams.compassYawEffect = 128; |
249 | staticParams.compassYawEffect = 128; |
Line 264... | Line 268... | ||
264 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
268 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
265 | staticParams.outputFlash[0].timing = 15; |
269 | staticParams.outputFlash[0].timing = 15; |
266 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
270 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
267 | staticParams.outputFlash[1].timing = 15; |
271 | staticParams.outputFlash[1].timing = 15; |
Line 268... | Line 272... | ||
268 | 272 | ||
269 | staticParams.outputDebugMask = 0; |
273 | staticParams.outputDebugMask = 8; |
270 | staticParams.outputOptions = 8; |
274 | staticParams.outputFlags = 16|8|4; |
Line 271... | Line 275... | ||
271 | } |
275 | } |
272 | 276 | ||
273 | /***************************************************/ |
277 | /***************************************************/ |
Line 323... | Line 327... | ||
323 | channelMap.channels[CH_POTS + 0] = 4; |
327 | channelMap.channels[CH_POTS + 0] = 4; |
324 | channelMap.channels[CH_POTS + 1] = 5; |
328 | channelMap.channels[CH_POTS + 1] = 5; |
325 | channelMap.channels[CH_POTS + 2] = 6; |
329 | channelMap.channels[CH_POTS + 2] = 6; |
326 | channelMap.channels[CH_POTS + 3] = 7; |
330 | channelMap.channels[CH_POTS + 3] = 7; |
327 | } |
331 | } |
328 | - |