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| Rev 1971 | Rev 1977 | ||
|---|---|---|---|
| Line 53... | Line 53... | ||
| 53 | #include <stddef.h> |
53 | #include <stddef.h> |
| 54 | #include <string.h> |
54 | #include <string.h> |
| 55 | #include "configuration.h" |
55 | #include "configuration.h" |
| 56 | #include "sensors.h" |
56 | #include "sensors.h" |
| 57 | #include "rc.h" |
57 | #include "rc.h" |
| - | 58 | #include "uart0.h" |
|
| - | 59 | ||
| 58 | int16_t variables[VARIABLE_COUNT]; |
60 | int16_t variables[VARIABLE_COUNT]; |
| 59 | paramset_t staticParams; |
61 | paramset_t staticParams; |
| 60 | channelMap_t channelMap; |
62 | channelMap_t channelMap; |
| 61 | mixerMatrix_t mixerMatrix; |
63 | mixerMatrix_t mixerMatrix; |
| 62 | volatile dynamicParam_t dynamicParams; |
64 | volatile dynamicParam_t dynamicParams; |
| Line 93... | Line 95... | ||
| 93 | SET_POT(dynamicParams.maxControlActivityForAcc,staticParams.maxControlActivityForAcc); |
95 | SET_POT(dynamicParams.maxControlActivityForAcc,staticParams.maxControlActivityForAcc); |
| Line 94... | Line 96... | ||
| 94 | 96 | ||
| 95 | SET_POT_MM(dynamicParams.heightP, staticParams.heightP,0,100); |
97 | SET_POT_MM(dynamicParams.heightP, staticParams.heightP,0,100); |
| 96 | SET_POT_MM(dynamicParams.heightD, staticParams.heightD,0,100); |
98 | SET_POT_MM(dynamicParams.heightD, staticParams.heightD,0,100); |
| 97 | SET_POT(dynamicParams.heightSetting,staticParams.heightSetting); |
- | |
| 98 | SET_POT(dynamicParams.heightACCEffect,staticParams.heightACCEffect); |
99 | SET_POT(dynamicParams.heightSetting,staticParams.heightSetting); |
| Line 99... | Line 100... | ||
| 99 | SET_POT(dynamicParams.attitudeControl,staticParams.attitudeControl); |
100 | SET_POT(dynamicParams.attitudeControl,staticParams.attitudeControl); |
| 100 | 101 | ||
| 101 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
102 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
| Line 222... | Line 223... | ||
| 222 | 223 | ||
| 223 | // IMU |
224 | // IMU |
| 224 | staticParams.gyroPIDFilterConstant = 1; |
225 | staticParams.gyroPIDFilterConstant = 1; |
| 225 | staticParams.gyroATTFilterConstant = 1; |
226 | staticParams.gyroATTFilterConstant = 1; |
| 226 | staticParams.gyroDFilterConstant = 1; |
227 | staticParams.gyroDFilterConstant = 1; |
| Line 227... | Line 228... | ||
| 227 | staticParams.accFilterConstant = 4; |
228 | staticParams.accFilterConstant = 10; |
| 228 | 229 | ||
| 229 | staticParams.gyroP = 60; |
230 | staticParams.gyroP = 60; |
| Line 237... | Line 238... | ||
| 237 | 238 | ||
| 238 | staticParams.axisCoupling1 = 90; |
239 | staticParams.axisCoupling1 = 90; |
| 239 | staticParams.axisCoupling2 = 67; |
240 | staticParams.axisCoupling2 = 67; |
| 240 | staticParams.axisCouplingYawCorrection = 0; |
241 | staticParams.axisCouplingYawCorrection = 0; |
| 241 | staticParams.dynamicStability = 50; |
242 | staticParams.dynamicStability = 50; |
| - | 243 | staticParams.IFactor = 32; |
|
| 242 | staticParams.IFactor = 32; |
244 | staticParams.yawIFactor = 100; |
| Line 243... | Line 245... | ||
| 243 | staticParams.compassYawEffect = 128; |
245 | staticParams.compassYawEffect = 128; |
| 244 | 246 | ||
| 245 | // Servos |
247 | // Servos |
| - | 248 | for (uint8_t i=0; i<2; i++) { |
|
| 246 | for (uint8_t i=0; i<2; i++) { |
249 | staticParams.servoConfigurations[i].manualControl = 128; |
| 247 | staticParams.servoConfigurations[i].manualControl = 128; |
250 | staticParams.servoConfigurations[i].manualMaxSpeed = 10; |
| 248 | staticParams.servoConfigurations[i].compensationFactor = 0; |
251 | staticParams.servoConfigurations[i].compensationFactor = 100; |
| 249 | staticParams.servoConfigurations[i].minValue = 64; |
252 | staticParams.servoConfigurations[i].minValue = 32; |
| 250 | staticParams.servoConfigurations[i].maxValue = 192; |
253 | staticParams.servoConfigurations[i].maxValue = 224; |
| 251 | staticParams.servoConfigurations[i].flags = 0; |
254 | staticParams.servoConfigurations[i].flags = 0; |
| Line 252... | Line 255... | ||
| 252 | } |
255 | } |
| 253 | staticParams.servoCount = 4; |
256 | staticParams.servoCount = 7; |
| 254 | 257 | ||
| 255 | // Battery warning and emergency flight |
258 | // Battery warning and emergency flight |