Subversion Repositories FlightCtrl

Rev

Rev 1646 | Rev 1864 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1646 Rev 1775
Line 3... Line 3...
3 
 
 3 
 
4 
#include <inttypes.h>
 4 
#include <inttypes.h>
Line 5... Line 5...
5 
#include <avr/io.h>
 5 
#include <avr/io.h>
6 
 
 6 
 
7 
typedef struct {
 7 
typedef struct {
8 
        uint8_t HeightD;
 8 
  /*PMM*/ uint8_t HeightD;
9 
        uint8_t MaxHeight;
 9 
  /* P */ uint8_t MaxHeight;
10 
        uint8_t HeightP;
 10 
  /*PMM*/ uint8_t HeightP;
11 
        uint8_t Height_ACC_Effect;
 11 
  /* P */ uint8_t Height_ACC_Effect;
12 
        uint8_t CompassYawEffect;
 12 
  /* P */ uint8_t CompassYawEffect;
13 
        uint8_t GyroD;
 13 
  /* P */ uint8_t GyroD;
14 
        uint8_t GyroP;
 14 
  /*PMM*/ uint8_t GyroP;
15 
        uint8_t GyroI;
 15 
  /* P */ uint8_t GyroI;
16 
        uint8_t StickYawP;
 16 
  /* Never used */ uint8_t StickYawP;
17 
        uint8_t IFactor;
 - 
 
18 
        uint8_t UserParams[8];
 - 
 
19 
  /*
 - 
 
20 
        uint8_t UserParam2;
 - 
 
21 
        uint8_t UserParam3;
 - 
 
22 
        uint8_t UserParam4;
 - 
 
23 
        uint8_t UserParam5;
 - 
 
24 
        uint8_t UserParam6;
 - 
 
25 
        uint8_t UserParam7;
 - 
 
26 
        uint8_t UserParam8;
 17 
  /* P */ uint8_t IFactor;
27 
  */
 18 
  /* P */ uint8_t UserParams[8];
28 
        uint8_t ServoPitchControl;
 19 
  /* P */ uint8_t ServoPitchControl;
29 
        uint8_t LoopGasLimit;
 20 
  /* P */ uint8_t LoopGasLimit;
30 
        uint8_t AxisCoupling1;
 21 
  /* P */ uint8_t AxisCoupling1;
31 
        uint8_t AxisCoupling2;
 22 
  /* P */ uint8_t AxisCoupling2;
32 
        uint8_t AxisCouplingYawCorrection;
 23 
  /* P */ uint8_t AxisCouplingYawCorrection;
33 
        uint8_t DynamicStability;
 24 
  /* P */ uint8_t DynamicStability;
34 
        uint8_t ExternalControl;
 25 
  /* P */ uint8_t ExternalControl;
35 
        uint8_t J16Timing;
 - 
 
36 
        uint8_t J17Timing;
 26 
  /*PMM*/ uint8_t J16Timing;
37 
        #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
 27 
  /*PMM*/ uint8_t J17Timing;
38 
        uint8_t NaviGpsModeControl;
 28 
  /* P */ uint8_t NaviGpsModeControl;
39 
        uint8_t NaviGpsGain;
 29 
  /* P */ uint8_t NaviGpsGain;
40 
        uint8_t NaviGpsP;
 30 
  /* P */ uint8_t NaviGpsP;
41 
        uint8_t NaviGpsI;
 31 
  /* P */ uint8_t NaviGpsI;
42 
        uint8_t NaviGpsD;
 32 
  /* P */ uint8_t NaviGpsD;
43 
        uint8_t NaviGpsACC;
 33 
  /* P */ uint8_t NaviGpsACC;
44 
        uint8_t NaviOperatingRadius;
 34 
  /*PMM*/ uint8_t NaviOperatingRadius;
45 
        uint8_t NaviWindCorrection;
 - 
 
46 
        uint8_t NaviSpeedCompensation;
 35 
  /* P */ uint8_t NaviWindCorrection;
47 
        #endif
 36 
  /* P */ uint8_t NaviSpeedCompensation;
48 
        int8_t KalmanK;
 37 
  int8_t KalmanK;
49 
        int8_t KalmanMaxDrift;
 38 
  int8_t KalmanMaxDrift;
- 
 
 39 
  int8_t KalmanMaxFusion;
Line -... Line 40...
- 
 
 40 
} dynamicParam_t;
- 
 
 41 
extern dynamicParam_t dynamicParams;
- 
 
 42 
 
- 
 
 43 
typedef struct {
- 
 
 44 
  uint8_t sourceIdx, targetIdx;
- 
 
 45 
  uint8_t min, max;
50 
        int8_t KalmanMaxFusion;
 46 
} MMXLATION;
- 
 
 47 
 
Line 51... Line 48...
51 
} fc_param_t;
 48 
typedef struct {
52 
 
 49 
  uint8_t sourceIdx, targetIdx;
53 
extern fc_param_t dynamicParams;
 50 
} XLATION;
54 
 
 51 
 
Line 162... Line 159...
162 
#define CFG_COMPASS_FIX         (1<<4)
 159 
#define CFG_COMPASS_FIX         (1<<4)
163 
#define CFG_GPS_ACTIVE          (1<<5)
 160 
#define CFG_GPS_ACTIVE          (1<<5)
164 
#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
 161 
#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
165 
#define CFG_ROTARY_RATE_LIMITER (1<<7)
 162 
#define CFG_ROTARY_RATE_LIMITER (1<<7)
Line 166... Line 163...
166 
 
 163 
 
167 
// bit mask for ParamSet.BitConfig
 164 
// bit mask for staticParams.BitConfig
168 
#define CFG_LOOP_UP             (1<<0)
 165 
#define CFG_LOOP_UP             (1<<0)
169 
#define CFG_LOOP_DOWN           (1<<1)
 166 
#define CFG_LOOP_DOWN           (1<<1)
170 
#define CFG_LOOP_LEFT           (1<<2)
 167 
#define CFG_LOOP_LEFT           (1<<2)
171 
#define CFG_LOOP_RIGHT          (1<<3)
 168 
#define CFG_LOOP_RIGHT          (1<<3)