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Line 38... | Line 38... | ||
38 | extern VersionInfo_t versionInfo; |
38 | extern VersionInfo_t versionInfo; |
Line 39... | Line 39... | ||
39 | 39 | ||
40 | typedef struct { |
40 | typedef struct { |
41 | // IMU |
41 | // IMU |
42 | /*PMM*/uint8_t gyroP; |
- | |
43 | /* P */uint8_t gyroD; |
42 | /*PMM*/uint8_t gyroP; |
44 | /* P */uint8_t gyroI; |
43 | /* P */uint8_t gyroI; |
45 | /* P */uint8_t IFactor; |
- | |
46 | uint8_t yawIFactor; |
44 | /* P */uint8_t gyroD; |
Line 47... | Line 45... | ||
47 | /* P */uint8_t compassYawEffect; |
45 | /* P */uint8_t compassYawEffect; |
48 | 46 | ||
49 | // Control |
- | |
50 | /* P */uint8_t externalControl; |
- | |
51 | - | ||
52 | /* P */uint8_t axisCoupling1; |
- | |
53 | /* P */uint8_t axisCoupling2; |
47 | // Control |
54 | /* P */uint8_t axisCouplingYawCorrection; |
48 | /* P */uint8_t externalControl; |
Line 55... | Line 49... | ||
55 | /* P */uint8_t dynamicStability; |
49 | /* P */uint8_t dynamicStability; |
56 | uint8_t maxAccVector; |
50 | uint8_t maxAccVector; |
- | 51 | ||
57 | 52 | // Height control |
|
58 | // Height control |
53 | /*PMM*/uint8_t heightP; |
59 | /*PMM*/uint8_t heightP; |
- | |
Line 60... | Line 54... | ||
60 | /*PMM*/uint8_t heightD; |
54 | /* P */uint8_t heightI; |
Line 61... | Line 55... | ||
61 | /* P */uint8_t heightSetting; |
55 | /*PMM*/uint8_t heightD; |
62 | /* P */uint8_t heightACCEffect; |
- | |
63 | 56 | /* P */uint8_t heightSetting; |
|
64 | uint8_t attitudeControl; |
57 | |
Line 65... | Line 58... | ||
65 | 58 | uint8_t attitudeControl; |
|
66 | // The rest... |
- | |
67 | /* P */uint8_t userParams[8]; |
- | |
68 | /*PMM*/uint8_t output0Timing; |
59 | |
- | 60 | // The rest... |
|
- | 61 | /*PMM*/uint8_t output0Timing; |
|
69 | /*PMM*/uint8_t output1Timing; |
62 | /*PMM*/uint8_t output1Timing; |
Line 70... | Line 63... | ||
70 | 63 | ||
Line 71... | Line 64... | ||
71 | uint8_t servoManualControl[2]; |
64 | uint8_t servoManualControl[2]; |
Line 118... | Line 111... | ||
118 | // values above 250 representing poti1 to poti4 |
111 | // values above 250 representing poti1 to poti4 |
119 | typedef struct { |
112 | typedef struct { |
120 | // Global bitflags |
113 | // Global bitflags |
121 | uint8_t bitConfig; // see upper defines for bitcoding |
114 | uint8_t bitConfig; // see upper defines for bitcoding |
Line 122... | Line -... | ||
122 | - | ||
123 | // Height Control |
- | |
124 | uint8_t airpressureFilter; |
- | |
125 | uint8_t airpressureAccZCorrection; |
- | |
126 | uint8_t heightP; |
- | |
127 | uint8_t heightD; |
- | |
128 | uint8_t heightSetting; |
- | |
129 | uint8_t heightControlMaxThrottleChange; |
- | |
130 | uint8_t heightSlewRate; |
- | |
131 | - | ||
132 | // Attitude Control |
- | |
133 | uint8_t attitudeControl; |
- | |
134 | - | ||
135 | // Control |
- | |
136 | uint8_t stickP; |
- | |
137 | uint8_t stickD; |
- | |
138 | uint8_t stickYawP; |
- | |
139 | uint8_t stickThrottleD; |
- | |
140 | uint8_t minThrottle; |
- | |
141 | uint8_t maxThrottle; |
- | |
142 | uint8_t externalControl; // for serial Control |
- | |
143 | uint8_t maxAccVector; |
- | |
144 | uint8_t maxControlActivity; |
- | |
145 | uint8_t motorSmoothing; |
- | |
146 | 115 | ||
147 | // IMU |
116 | // IMU |
148 | uint8_t gyroQuadrant; |
117 | uint8_t gyroQuadrant; |
149 | uint8_t accQuadrant; |
118 | uint8_t accQuadrant; |
Line 150... | Line 119... | ||
150 | uint8_t imuReversedFlags; |
119 | uint8_t imuReversedFlags; |
151 | 120 | ||
152 | uint8_t gyroPIDFilterConstant; |
121 | uint8_t gyroPIDFilterConstant; |
153 | uint8_t gyroATTFilterConstant; |
122 | uint8_t gyroATTFilterConstant; |
Line 154... | Line -... | ||
154 | uint8_t gyroDFilterConstant; |
- | |
155 | uint8_t accFilterConstant; |
123 | uint8_t gyroDFilterConstant; |
156 | 124 | uint8_t accFilterConstant; |
|
157 | uint8_t gyroP; |
- | |
158 | uint8_t gyroI; |
125 | |
159 | uint8_t gyroD; |
126 | uint8_t maxAccVector; |
160 | 127 | uint8_t maxControlActivity; |
|
Line 161... | Line 128... | ||
161 | uint8_t zerothOrderCorrection; |
128 | uint8_t zerothOrderCorrection; |
162 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
129 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
163 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
130 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
Line -... | Line 131... | ||
- | 131 | ||
- | 132 | uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
|
- | 133 | uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
|
- | 134 | uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
|
- | 135 | ||
- | 136 | uint8_t levelCorrection[2]; |
|
- | 137 | ||
- | 138 | // Control |
|
- | 139 | uint8_t gyroP; |
|
- | 140 | uint8_t gyroI; |
|
- | 141 | uint8_t gyroD; |
|
- | 142 | ||
- | 143 | uint8_t attitudeControl; |
|
- | 144 | uint8_t stickP; |
|
- | 145 | uint8_t stickD; |
|
- | 146 | uint8_t stickYawP; |
|
164 | 147 | uint8_t stickThrottleD; |
|
165 | uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
148 | uint8_t minThrottle; |
166 | uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
149 | uint8_t maxThrottle; |
167 | uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
150 | uint8_t externalControl; // for serial Control |
- | 151 | uint8_t motorSmoothing; |
|
- | 152 | uint8_t dynamicStability; // PID limit for Attitude controller |
|
- | 153 | uint8_t IFactor; |
|
- | 154 | uint8_t yawIFactor; |
|
- | 155 | uint8_t compassYawEffect; |
|
- | 156 | uint8_t batteryVoltageWarning; |
|
- | 157 | uint8_t emergencyThrottle; |
|
- | 158 | uint8_t emergencyFlightDuration; |
|
- | 159 | ||
- | 160 | // Height Control |
|
168 | 161 | uint8_t airpressureFilter; |
|
- | 162 | uint8_t airpressureAccZCorrection; |
|
- | 163 | uint8_t heightP; |
|
- | 164 | uint8_t heightI; |
|
Line 169... | Line 165... | ||
169 | uint8_t dynamicStability; // PID limit for Attitude controller |
165 | uint8_t heightD; |
170 | uint8_t IFactor; |
166 | uint8_t heightSetting; |
171 | uint8_t yawIFactor; |
167 | uint8_t heightControlMaxIntegralThrottleChange; |
172 | uint8_t compassYawEffect; |
168 | uint8_t heightControlMaxThrottleChange; |
Line 173... | Line -... | ||
173 | uint8_t levelCorrection[2]; |
- | |
174 | - | ||
175 | // Servos |
- | |
176 | uint8_t servoCount; |
- | |
177 | uint8_t servoManualMaxSpeed; |
- | |
178 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
169 | uint8_t heightSlewRate; |
179 | 170 | ||
180 | // Battery warning and emergency flight |
171 | // Servos |
181 | uint8_t batteryVoltageWarning; |
172 | uint8_t servoCount; |